基于H∞理论的主动悬架状态反馈控制  

State Feedback Control of Active Suspension Based on H∞Theory

作　　者：詹长书[1] 曹先腾 ZHAN Changshu;CAO Xianteng(School of Traffic and Transportation,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学交通学院,哈尔滨150040

出　　处：《森林工程》2020年第5期92-98,共7页Forest Engineering

基　　金：中央高校基本科研业务费专项资金项目(2572018BG02)。

摘　　要：为了使主动空气悬架在行驶过程中起到更好的减振控制效果,建立参数不确定性二自由度四分之一汽车悬架模型的动力学方程和非平稳路面激励模型,利用鲁棒H∞(H-infinity最优控制)状态反馈控制理论对非平稳运行条件下的主动悬架控制进行分析优化。在时间域硬约束条件下提出H∞状态反馈控制策略,并将其用于四分之一车辆模型的主动悬架控制系统的设计,通过时域分析和鲁棒参数稳定性分析得出该控制器的稳定性。针对非平稳运行路面,采用鲁棒H∞控制策略能有效地改善在给定的约束控制力条件下的乘坐舒适性,减小车身加速度约40%,并且满足极限悬架动挠度0.08 m、轮胎动载荷1500 N的要求,改善了车辆的操纵稳定性和行驶平顺性。In order to make active air suspension have a better vibration control effect while driving,dynamic equation of parameter uncertainty two-degree-of-freedom quarter-vehicle suspension model and non-stationary pavement excitation model are established,analyzing and optimizing active suspension control under linear matrix inequalities with robust H∞control theory.Under the time domain hard constraints,H∞state feedback control strategy is proposed and used in the design of the active suspension control system of the quarter vehicle model.The stability of the controller is obtained through time domain analysis and robust parameter stability analysis.For non-steady running roads,the use of a robust H∞control strategy can effectively improve the riding comfort under the given constraint control force,reduce the body acceleration by about 40%and meet the requirements of limit suspension dynamic deflection of 0.08m and tire dynamics load of 1500 N,which improves the vehicle’s handling stability and ride comfort.

关 键 词：H∞控制 主动悬架 线性矩阵不等式 鲁棒性 

分 类 号：U461.6[机械工程—车辆工程]