含时滞悬架系统H∞控制的理论与实验研究  

Theoretical and Experimental Research on H∞ Control Suspension System with Time Delay

作　　者：纪仁杰[1,2] 方明霞 李佩琳[1] 闫盖 Ji Renjie;Fang Mingxia;Li Peilin;Yan Gai(School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092;Roechling Automotive Parts(Kunshan)Co.,Ltd.,Kunshan 215000;Colleges of Engineering,Shanghai Polytechnic University,Shanghai 201209)

机构地区：[1]同济大学航空航天与力学学院,上海200092 [2]劳士领汽车配件(昆山)有限公司,昆山215000 [3]上海第二工业大学工学部,上海201209

出　　处：《汽车工程》2020年第3期339-344,352,共7页Automotive Engineering

基　　金：国家自然科学基金(11772229)资助。

摘　　要：本文中以考虑时滞的汽车主动悬架系统为研究对象,利用理论与实验相结合的方法,研究时滞对悬架系统振动特性的影响。首先,建立考虑时滞的主动悬架系统动力学模型,基于H∞控制理论,通过Lyapunov-Krasovskii泛函和自由权矩阵法,推导了闭环时滞系统渐近稳定的矩阵不等式,设计了已知最大稳定时滞量的H∞控制律;然后,利用数值仿真和实验方法对该控制律进行验证,结果表明H∞控制律能有效抑制簧载质量加速度;最后,分析了不同增益下时滞与簧载加速度均方根值的变化关系,研究发现时滞量距离控制增益所对应的τmax越近,控制效果越好。In this paper,taking the vehicle active suspension system considering time delay as the research object,by the method of combining theory and experiment,the influence of time delay on the vibration characteristics of the suspension system is studied.Firstly,the dynamic model of the active suspension system with time delay is established.Based on H∞control theory,through Lyapunov-Krasovskii function and free weight matrix method,the matrix inequality of asymptotically stable closed-loop system with time-delay is derived,and the H∞control law with known maximum stable time-delay is designed.Then,the numerical simulation and experimental method are used to verify the control law.The results show that H∞control law can effectively suppress the sprung mass acceleration.Finally,the relationship between the time delay and the root mean square value of the sprung mass acceleration is analyzed under different gain and it is found that the closer the time delay is toτmax for gain control,the better the control effect.

关 键 词：主动悬架 时滞 H∞控制 时滞反馈实验 

分 类 号：U463.33[机械工程—车辆工程]