引用本文:王鹏,宋鹏云,张继业,张克跃.执行器有时滞的馈能式主动悬架的鲁棒控制[J].控制理论与应用,2012,29(12):1609~1615.[点击复制]
WANG Peng,SONG Peng-yun,ZHANG Ji-ye,ZHANG Ke-yue.Robust control for self-powered active suspension with time-delay in actuator[J].Control Theory and Technology,2012,29(12):1609~1615.[点击复制]
执行器有时滞的馈能式主动悬架的鲁棒控制
Robust control for self-powered active suspension with time-delay in actuator
摘要点击 1629  全文点击 1187  投稿时间：2012-02-03  修订日期：2012-06-14
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DOI编号  10.7641/j.issn.1000-8152.2012.12.CCTA120073
  2012,29(12):1609-1615
中文关键词  鲁棒控制  能量回收  执行器时滞  保成本/H∞  线性矩阵不等式
英文关键词  robust control  energy reproduction  actuator delay  guaranteed cost/H-infinity  linear matrix inequalities
基金项目  国家自然科学基金资助项目(11172247, 60974132); 2013年西南交通大学博士研究生创新基金和中央高校基本科研业务费专项资金资助项目.
作者单位E-mail
王鹏 西南交通大学 牵引动力国家重点实验室 ertongtuanyuan@163.com 
宋鹏云 西南交通大学 牵引动力国家重点实验室  
张继业* 西南交通大学 牵引动力国家重点实验室 jyzhang@swjtu.edu.cn 
张克跃 西南交通大学 土木工程系  
中文摘要
      车辆用的馈能式主动悬架系统具有不确定参数, 而且执行器有时滞. 为了保证其稳定性、减振性和能量回收性能, 我们提出了一种保成本/H∞鲁棒控制器设计方法. 对车辆悬架系统性能方面的要求, 用二次型加权性能指标和H∞性能指标反映. 定义了一个Lyapunov函数代表这两个性能指标; 根据这个Lyapunov函数, 把闭环系统设计问题转化为一组线性矩阵不等式以求解控制器. 根据直流电机工作原理, 分析了参数摄动和执行器时滞对系统能量平衡的影响, 推导出了能量平衡方程. 最后对二自由度1/4车悬架模型进行了仿真; 结果表明: 对一定范围内的参数摄动和有界时滞, 悬架系统在有效减振的同时, 实现了能量的回收.
英文摘要
      For the self-powered active vehicle suspension system with parameter uncertainties and time-delay in the actuator, a guaranteed-cost/H-infinity robust controller is designed to ensure the system performances in stability, vibration isolation and energy feedback. In the controller design, parameter uncertainties and the time-delay in actuator are taken into consideration. The requirements on vehicle suspension systems are described by a quadratic weighted performance index and an H-infinity performance index. Both performance indices are combined into a Lyapunov function which is to be satisfied by the closed-loop system, formulating the design problem into linear matrix inequalities that are solved for the controller. Based on the DC motor principle, the impact of parameter perturbations and time-delay in the actuator on the energy balance is analyzed, and an energy balance equation is developed. Simulation is made on a two degrees-of-freedom quarter-car suspension model with a certain range of parameter perturbations and bounded time-delay. Results show that this suspension system guarantees effective vibration isolation while realizing energy reproduction.