摘要
提出了一种新的综合考虑系统的输入时延和参数不确定性的广义H_2/H_∞混合控制器设计方法,并将其用于车辆主动悬架设计.假定作动器时延是一个已知其边界但不确定的恒定的量,且系统的不确定参数是范数有界的.针对悬架设计需求,分别用H_∞和广义H_2性能评价指标反映车身加速度和机械结构设计约束.通过定义一个李亚普诺夫函数来同时满足闭环系统的两个性能指标,将广义H_2/H_∞混合控制器设计转化为线性矩阵不等式的求解.用两自由度1/4车悬架模型进行仿真,结果表明:不论是否存在有界时延和车身参数变异,控制器始终能给出很好的控制效果.
A new method is proposed to develop a generalized mixed H2/H∞controller which considers both input time delay and parameter uncertainty,and it is applied to active vehicle suspensions design.It is assumed that the time delay of actuator is an uncertain constant value with a known constant boundary,and the uncertain parameter of the system is norm-bounded.As required for the design of the suspensions,the H∞and the generalized H2 performance indicators are used respectively to reflect the sprung mass acceleration and the design constraints of the mechanical structure.The two performance indicators of the closed-loop system are met simultaneously by defining a Lyapunov function,and the designing of a generalized mixed H2/H∞controller is transformed into the solution of the inequalities linear matrix.The simulation is made on a two degree-of-freedom quarter-car suspension model,and the results show that the designed controller can always achieve good performance regardless of the bounded time-delay and the variation of the parameters.
出处
《信息与控制》
CSCD
北大核心
2010年第3期284-290,共7页
Information and Control
