具有双层控制结构的馈能悬架输出反馈控制策略  

Two-layered output feedback control of energy-regenerative suspensions

作　　者：于树友[1,2] 曹瑞丽 刘清宇 曲婷[1] 陈虹[1,2] YU Shu-you;CAO Rui-li;LIU Qing-yu;QU Ting;CHEN Hong(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 1300221 China;College of Communication Engineering,Jilin University,Changchun 130022,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]吉林大学通信工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2020年第4期1191-1200,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(6171101085,61573165,61703178);吉林省省校共建计划专项项目(SXGJSF2017-2-1-1)。

摘　　要：针对悬架系统是一个复杂的多变量振动系统,单一的控制算法难以满足悬架系统的性能要求的不足,采用了双层结构控制策略,上层控制器产生下层控制器的期望输出,下层控制器跟踪上层控制器的输出。本文将馈能悬架的控制器设计问题归结为时域硬约束下的干扰抑制问题和能量回收效率的问题,上层控制器采用多目标H∞/广义H2输出反馈控制策略,即用广义H2范数描述系统时域约束,用H∞范数度量系统的性能。下层采用状态反馈积分控制策略实现执行机构对上层控制输出的跟踪。仿真验证了设计的1/4车馈能悬架具有干扰抑制能力和能量回收能力。In general,a single control algorithm is difficult to meet the conflicit requirements of a complicate suspension system. In this paper,a control system is designed to have a hierarchical structure and consists of an upper level controller and a lower level controller. The upper level controller generates the desired control output of the lower level controller and the lower level controller tracks the output of the upper layer. The upper level controller is designed to use H∞/generalized H2 output feedback control strategy for attenuating disturbances and improving energy regeneration efficiency. The generalized H2 norm is used to describe constraints and the H∞ norm is adopted to measure output performance. The lower level controller is designed to use state feedback integral strategy to track the output of the upper level controller. Numerical simulations are conducted to illustrate that the proposed method can attenuate disturbances and regenerate energy effectively.

关 键 词：自动控制技术 馈能悬架 输出反馈 H∞/广义H2控制 能量回收 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]