基于线性矩阵不等式的汽车主动悬架H_2控制
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摘要
通过状态空间微分方程建立了半车主动悬架数学模型,以包含随机脉冲的白噪声来描述路面不平度,范数约束系统多目标性能输出,广义H_2范数约束系统时域硬约束。基于线性矩阵不等式求解Riccati方程,建立最优状态反馈控制器以保证系统的Lyapunov稳定性与动态性能。基于Simulink对传统PID控制器与H_2控制器进行仿真。结论表明,设计的H_2控制器相比传统汽车控制器有更优的扰动抑制与鲁棒性。
A half-car hydraulic active suspension model was established based on state space differential equations. Road roughness was described through the white noise included random pulses, H_2 norm was applied to minimize the multi-objects performance output; General H_2 norm was used to satisfy the hard time-domain constraints. The optimal state-feedback controller was constructed and the Lyapunov stability and dynamic performance was promised by solving LMIs(linear matrix inequalities) of the Riccati equations. The traditional PID controller and H_2 controller were simulated by Simulink. The disturbance attenuation and robustness were proved more superior compared with the traditional vehicle controller.
A half-car hydraulic active suspension model was established based on state space differential equations. Road roughness was described through the white noise included random pulses, H_2 norm was applied to minimize the multi-objects performance output; General H_2 norm was used to satisfy the hard time-domain constraints. The optimal state-feedback controller was constructed and the Lyapunov stability and dynamic performance was promised by solving LMIs(linear matrix inequalities) of the Riccati equations. The traditional PID controller and H_2 controller were simulated by Simulink. The disturbance attenuation and robustness were proved more superior compared with the traditional vehicle controller.
引文
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[6]李荣,焦晓红,杨超.基于动态输出反馈的半车主动悬架系统鲁棒控制[J].振动与冲击,2014,33(7):187-193.
[7]吴敏,何勇,余锦华.鲁棒控制理论[M].北京:高等教育出版社,2010.
[8]俞立.鲁棒控制-线性矩阵不等式处理方法[M].北京:清华大学出版社,2002.
[2]陈虹,马苗苗,孙鹏远.基于LMI优化的主动悬架多目标控制[J].自动化学报,2006,32(4):550-559.
[3]Fialho I,Balas G J.Road adaptive active suspension design using linear parameter-varying gain-scheduling[J].IEEE Trans on Control Systems Technology,2002,10(1):43-54.
[4]刘震,吴冰,胡德文.基于Backstepping方法的液压主动悬挂最优控制及仿真[J].系统仿真学报,2007(3):616-619.
[5]Abdelhady M B A.A fuzzy controller for automotive active suspension systems[J].Fuzzy Systems,2003,11(4):550-559.
[6]李荣,焦晓红,杨超.基于动态输出反馈的半车主动悬架系统鲁棒控制[J].振动与冲击,2014,33(7):187-193.
[7]吴敏,何勇,余锦华.鲁棒控制理论[M].北京:高等教育出版社,2010.
[8]俞立.鲁棒控制-线性矩阵不等式处理方法[M].北京:清华大学出版社,2002.