摘要
针对具有控制量和输出硬约束的不确定系统,研究了一种鲁棒保性能控制方法,将汽车主动悬架的控制问题视为有时域硬约束的鲁棒干扰抑制问题。将车身加速度作为系统的H2最小化输出性能指标,悬架动行程和轮胎动载荷作为H∞性能指标,得到系统的鲁棒H2/H∞最优保性能控制律。通过实例的仿真验证了鲁棒保性能控制方法的有效性和可行性,改善了带主动悬架系统汽车的乘坐舒适性。
Aiming at the system with uncertainty in control variables and the hard constraints of output, a robust guaranteed cost control method is studied. Vehicle active suspension control problem is regarded as a robust disturbance attenuation problem with time-domain hard constraints. With vehicle body acceleration as minimized output performance indicator and the dynamic travel of suspension and the dynamic load of tire as performance indi- cators, the robust guaranteed cost control law of system is obtained. The results of real example simulation verify the effectiveness and feasibility of the method proposed, which improves the ride comfort of vehicles with active suspen- sion system.
出处
《汽车工程》
EI
CSCD
北大核心
2014年第2期216-221,共6页
Automotive Engineering
关键词
不确定性
硬约束
保性能鲁棒控制
主动悬架
uncertainty
hard constraint
robust guaranteed cost control
active suspension
