摘要
车辆用的馈能式主动悬架系统具有不确定参数,而且执行器有时滞.为了保证其稳定性、减振性和能量回收性能,我们提出了一种保成本/H∞鲁棒控制器设计方法.对车辆悬架系统性能方面的要求,用二次型加权性能指标和H∞性能指标反映.定义了一个Lyapunov函数代表这两个性能指标;根据这个Lyapunov函数,把闭环系统设计问题转化为一组线性矩阵不等式以求解控制器.根据直流电机工作原理,分析了参数摄动和执行器时滞对系统能量平衡的影响,推导出了能量平衡方程.最后对二自由度1/4车悬架模型进行了仿真;结果表明:对一定范围内的参数摄动和有界时滞,悬架系统在有效减振的同时,实现了能量的回收.
For the self-powered active vehicle suspension system with parameter uncertainties and time-delay in the actuator,a guaranteed-cost/H-infinity robust controller is designed to ensure the system performances in stability,vibration isolation and energy feedback.In the controller design,parameter uncertainties and the time-delay in actuator are taken into consideration.The requirements on vehicle suspension systems are described by a quadratic weighted performance index and an H-infinity performance index.Both performance indices are combined into a Lyapunov function which is to be satisfied by the closed-loop system,formulating the design problem into linear matrix inequalities that are solved for the controller.Based on the DC motor principle,the impact of parameter perturbations and time-delay in the actuator on the energy balance is analyzed,and an energy balance equation is developed.Simulation is made on a two degrees-of-freedom quarter-car suspension model with a certain range of parameter perturbations and bounded time-delay.Results show that this suspension system guarantees effective vibration isolation while realizing energy reproduction.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2012年第12期1609-1615,共7页
Control Theory & Applications
基金
国家自然科学基金资助项目(11172247
60974132)
2013年西南交通大学博士研究生创新基金
中央高校基本科研业务费专项资金资助项目
关键词
鲁棒控制
能量回收
执行器时滞
保成本
H∞
线性矩阵不等式
robust control
energy reproduction
actuator delay
guaranteed cost/H-infinity
linear matrix inequalities
