基于微分几何法的主动悬架鲁棒H_∞控制  

Robust H_∞ Control of Active Suspension Based on Differential Geometry

作　　者：李武杰 陈从根 郭立新[1] LI Wu-jie;CHEN Cong-gen;GUO Li-xin(School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2019年第5期716-721,共6页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(51875096;51607030;51275082)

摘　　要：利用微分几何法和鲁棒H_∞控制理论,提出一种基于微分几何法的主动座椅悬架和车辆主动悬架的鲁棒H_∞控制策略.在建立"车-椅"车辆三自由度模型的基础上,考虑座椅悬架和车辆悬架弹性力和阻尼力的非线性特性,应用微分几何法并经过非线性状态反馈变换的方法,对主动悬架非线性系统进行精确线性化.然后以底盘垂向加速度和座椅垂向加速度为控制目标,以车轮动态位移、车辆悬架挠度范围小于规定值为约束条件,设计出了座椅悬架和车辆悬架鲁棒H_∞控制器,并用Matlab/Simulink进行仿真实验验证了集成变增益LQR控制方法的有效性和可行性.By means of the differential geometry method and the robust H ∞ control theory,a robust H ∞ control strategy for active seat suspension and vehicle active suspension based on differential geometry method is proposed.On the basis of establishing the three-degree-of-freedom model of the "car-chair" vehicle,considering the nonlinear characteristics of the elastic force and damping force of seat suspension and vehicle suspension,the differential geometry method and the nonlinear state feedback transformation method are applied to precisely linearize the active suspension nonlinear system.Then,the vertical accelerations of the chassis and the seat are taken as the control targets,and the robust suspension H ∞ controller of seat suspension and vehicle suspension is designed with the wheel dynamic displacement and the vehicle suspension deflection range less than the specified value as the constraint conditions.The simulation experiment with Matlab/Simulink is carried out to verify the effectiveness and feasibility of the integrated variable gain LQR control method.

关 键 词：微分几何 非线性 主动悬架 鲁棒H∞控制 线性矩阵不等式(LMI) 

分 类 号：U461.4[机械工程—车辆工程]