含执行器饱和主动悬架反馈控制的LMI方法  

LMI Method for Feedback Control of Active Suspension with Actuator Saturation

作　　者：曹青松 易星 许力 CAO Qing-song;YI Xing;XU Li(School of Mechanical Engineering,Jiangxi University of Technology,Jiangxi Nanchang 330098,China)

机构地区：[1]江西科技学院机械工程学院,江西南昌330098

出　　处：《机械设计与制造》2022年第3期172-175,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51765021);江西省教育厅科学技术研究项目(GJJ161133);江西科技学院自然科学项目(ZR1706)。

摘　　要：执行器饱和非线性严重制约了主动悬架系统的良好减振性能。采用标准饱和函数向量描述悬架执行器饱和特性,建立具有执行器饱和的1/4车体主动悬架系统动力学模型。考虑饱和函数凸集表示,分析含执行器饱和的主动悬架收敛域估计问题,确定具有执行器饱和的主动悬架系统椭圆不变集条件,采用线性矩阵不等式(LMI,Linear Matrix Inequality)方法求解最大椭圆不变集。将反馈控制律当成一个优化参数,通过LMI方法获得系统反馈控制律。仿真结果表明,通过LMI设计的控制律能显著增大系统椭圆不变集,随执行器饱和度改变而改变并保证系统稳定工作,还可以改善执行器非线性现象对系统的不利影响。The good vibration damping performance of active suspension system is seriously restricted by nonlinearity of actuator saturation. The saturation characteristics of suspension actuator is described using standard vector of saturation function. The dynamic model of active suspension system for 1/4 vehicle body with actuator saturation is established. The convex set representation of saturation function is considered,and the estimation problem of convergence domain for active suspension with actuator saturation is analyzed. The conditions of ellipsoidal invariant set for active suspension system with actuator saturation is determined.The Linear Matrix Inequality(LMI)method is adopted to solve the maximum elliptic invariant set. Then the feedback control law is taken as an optimization parameter,and the feedback control law of system is obtained by LMI method. Simulation results show that the controller designed by LMI can significantly increase the elliptic invariant set of system. The control law changed with saturation changing to keep the system work stably and improve the adverse effect of nonlinear phenomenon of actuator on the system.

关 键 词：主动悬架 执行器饱和 线性矩阵不等式 反馈控制 椭圆不变集 

分 类 号：TH16[机械工程—机械制造及自动化] U463.33[机械工程—车辆工程]