含时滞的LQ控制车辆悬架的研究

Effect of Time Delay on Active Vehicle Suspensions Equipped with Linear Quadratic Control

研究时滞对具有LQ最优控制的 1 4汽车线性悬架模型的动特性影响。首先采用了广义的Sturm序列判别准则给出了不同控制增益下单自由度车模型全时滞稳定区 ,以及在给定时滞情况下绘出了控制增益稳定区 ;其次 ,给出了两自由度车模型的全时滞稳定区以及系统在给定的增益下临界时滞的值。此外 ,讨论了全状态反馈下的稳定性以及稳定性切换问题 ;

The paper presents a case study of the effect of time de lay in the control path on dynamic performance of a 1/4 car model of active vehi cle suspension equipped with 'LQ' control. First, Based on the generalized Sturm criterion, the delay-independent stability for single degree system of a car m odel is investigated. The stable region for feedback gains is given under the kn own time delays. Secondly, the delay-independent stability for two degree syste m of a car model is given and the stable region for arbitrary time delay is give n under various combinations of feedback gains. In addition, the paper deals wit h the stability switches of the car model equipped with 'LQ' control under full state feedback. Finally, the effect of time delay on the dynamic performance o f the model is discussed through using numerical simulations in the frequency d omain and time domain, respectively.