基于混合鲁棒控制的电磁主动悬架动力学分析  

Study on Dynamics of Electromagnetic Active Suspension Based on Mix Robust Control

作　　者：张望[1] 喻凡[1] 

机构地区：[1]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械设计与研究》2015年第4期173-178,共6页Machine Design And Research

基　　金：机械系统与振动国家重点实验室课题资助项目(MSV201505)

摘　　要：基于主-转矩跟踪环路结构设计了一种H2/H∞混合控制策略对电磁主动悬架进行动力学控制。首先,设计了主-转矩跟踪环路的结构,在此结构中,主环路基于整车悬架模型采用H2/H∞混合控制策略计算电磁作动器的需求转矩。将车身加速度、悬架工作行程以及轮胎动位移作为H2性能指标,而悬架工作行程和需求转矩则是H∞的性能指标;转矩跟踪环路通过滑模控制来操控三相电机跟踪需求转矩。最后在MATLAB/Simulink软件环境下进行了仿真,结果表明应用本控制策略的电磁主动悬架可以显著提升驾乘舒适性,同时也具备良好的鲁棒性。This paper presents a mixed H2/H∞ control strategy based on main/torque-tracking loop structure for an electromagnetic active suspension. First, a main/torque-tracking loop is designed, in which the demand torque of electromagnetic actuator is calculated with mixed H2/H∞ control strategy based on a full-car suspension model. Body accelerations, suspension working space and dynamic tire displacements are considered as H2 performance indices, while suspension working space and demand torque are taken as H∞ performance indices. A slide mode controllor is designed for the motor to track the demand torque. Simulations are carrted out in Matlab simulink anviroment resuhs show that the ride comfort of an electromagnetic active suspension can be significantly improved by using the designed controller and meanwhile with good robustness.

关 键 词：主动悬架 H2/H∞混合控制 鲁棒控制 悬架动力学 

分 类 号：U463[机械工程—车辆工程]