摘要
针对一类具有输入时滞的主动悬架系统,提出了鲁棒补偿控制方法。根据半车主动悬架动力学模型设计时延补偿向量用于构成控制输入,为此构造了相应的Lyapunov函数,解决鲁棒稳定性的问题。为了解决系统状态不完全可测的问题,采取变量替换法,实现有限可检测状态量的静态输出反馈控制。采用Lyapunov理论和线性矩阵不等式,设计多目标协同控制器,同时提高主动悬架系统的乘坐舒适性及操纵稳定性,并考虑悬架主动控制力、轮胎动载荷和执行器饱和等约束。通过在不同的时滞工况下对其进行动力学仿真分析,验证了该方法在不平路面扰动仍保持鲁棒稳定和满足一定的系统性能。
Robust compensation control was proposed for a class of vehicle active suspension systems with input delay.First,according to the half vehicle active suspension dynamic model to design time delay compensation vector to constitute the control input,the corresponding Lyapunov function has been structured,to solve the problem of robust stability.In order to solve the problems of the system states that are not fully measurable,a variable substitution method was adopted,which can realize the static output feedback control with reduced dimensions.The Lyapunov theory and linear matrix inequality approaches were used to design the multi-objective cooperative controller,which can be simultaneous improvement in ride comfort and handling stability of the active suspension systems,and take into account constraints such as suspension active control force,tire dynamic deflection and actuator saturation.Finally,the dynamic simulation analysis of the active suspension system under different time-delay conditions verified that the system robust stability and certain performance achieved in the uneven road disturbance.
作者
段建民
黄小龙
陈阳舟
DUAN Jianmin;HUANG Xiaolong;CHEN Yangzhou(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China)
出处
《振动与冲击》
EI
CSCD
北大核心
2020年第24期254-263,277,共11页
Journal of Vibration and Shock
基金
北京市教委基金(05002011200701)。
关键词
半车主动悬架系统
补偿控制
多目标协同控制
输入时滞
降维状态量
half vehicle active suspension systems
compensation control
multi-objective cooperative control
input delay
reduced dimensions
作者简介
第一作者:段建民,男,博士,教授,博士生导师,1959年生;通信作者:黄小龙,男,博士生,工程师,1981年生。
