基于H_2/H_∞控制的汽车主动悬架最优鲁棒容错控制  

Optimal Robust Fault Tolerant Control for Vehicle Active Suspension System Based on H_2/H_∞ Approach

作　　者：杨柳青[1,2] 陈无畏[1] 汪洪波[1] 

机构地区：[1]合肥工业大学,合肥230009 [2]安徽交通职业技术学院,合肥230051

出　　处：《中国机械工程》2012年第24期3013-3019,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51075112);安徽省高校省级自然科学研究项目(KJ2012B050)

摘　　要：为提高汽车主动悬架控制可靠性和控制效果,针对悬架参数摄动和作动器故障,提出一种基于H2/H∞的最优鲁棒容错控制方法。考虑作动器常见故障、悬架刚度与阻尼系数摄动,建立故障悬架模型。基于H2/H∞状态反馈控制,利用有界实引定理推导出悬架最优鲁棒容错控制器设计条件。运用LMI工具箱离线设计控制器,并在MATLAB/Simulink环境下进行大量仿真计算。结果表明,设计的最优鲁棒容错控制器能改善汽车主动悬架乘坐舒适性,亦能改善故障悬架乘坐舒适性,且在控制效果上均优于完好无故障状态下设计的控制器。To improve control reliability and performance of a vehicle active suspension system,an optimal robust fault tolerant control method was put forward based on H2/H~ control for active sus- pension system with suspension parameter disturbance and actuator fault. The fault suspension models were built considering the ordinary actuator faults and parameter disturbance for suspension＇s stiff- ness disturbance and damping coefficient disturbance. Based on the multi--objective H2/H~ state-- feedback control approach and by bounded real cited theorem, the design condition of the optimal ro- bust fault tolerant control for the suspension models was derived. By linear matrix inequality toolbox, an optimal robust fault tolerant controller under out--line state was designed for fault closed--loop system. Finally under the MATLAB/Simulink environment, the considerable simulations were carried out. The results show that proposed controller can improve the ride comfort performance of vehicle ac- tive suspension and of fault suspension too. Furthermore, control performance of the optimal robust fault tolerant controller is superior to the controller designed under the state of perfect suspension without faults.

关 键 词：汽车主动悬架 鲁棒容错控制 参数摄动 作动器故障 

分 类 号：U461.4[机械工程—车辆工程]