主动悬架有限频域H∞时滞控制参数影响分析及优化

doi:10.3969/j.issn.1000-1093.2018.09.023

摘要/Abstract

摘要： 基于线性矩阵不等式的方法，设计了考虑控制输入时滞的有限频域H_∞控制算法。在该算法设计中，以提高车辆乘坐舒适性、降低车体加速度为控制目标，以悬架动行程小于最大许用行程、车轮与地面始终保持良好接触、作动器出力小于其最大出力为控制的3个约束条件，分析了控制参数对求解结果的影响。针对控制参数经验取值难以得到控制的最优解，且不同时滞条件下参数取值不具有通用性的问题，提出了基于遗传算法的优化设计方法，并对求解得到的控制算法性能进行了仿真分析。结果表明：基于遗传算法优化设计并考虑了控制时滞的有限频域H_∞控制算法，能够有效地降低时滞对控制的影响，提高车辆在4~8 Hz频域范围内的乘坐舒适性，且控制效果明显优于依靠经验设计的控制算法和未考虑控制输入时滞的控制算法。

关键词: 主动悬架, 时滞, 有限频域, H_∞控制算法, 控制参数, 遗传算法

Abstract: A finite frequency H_∞ controller with input delay is designed based on the linear matrix inequality method. In the design of finite frequency H_∞ controller, the increase in ride comfort of vehicle and the reduction in car body acceleration are taken as the control target, and the suspension stroke being less than the maximum allowable travel, the wheel keeping well contacted with the ground, and the actuator output being less than the maximum output are taken as the three constraints of control. The influences of control parameters on solving result are analyzed. To solve the problems of that the optimal solution of controller can not be derived from the empirical parameter values, and the parameter values are not universal under different time delay conditions, an optimal design method based on genetic algorithm is proposed, and the performance of controller is analyzed through numeral simulation. The simulated results show that the new proposed finite frequency H_∞ controller optimized by the genetic algorithm can effectively reduce the influence of time delay on control and improve the riding comfort of vehicles in the frequency band of 4-8 Hz. The finite frequency H_∞ controller is obviously superior to the empirically designed controller and the controller without considering the input delay in the control effect. Key

Key words: activesuspension, timedelay, finitefrequencydomain, H_∞control, controlparameter, geneticalgorithm

中图分类号:

张进秋，王兴野，贾进峰，孙宜权，李欣. 主动悬架有限频域H_∞时滞控制参数影响分析及优化[J]. 兵工学报, 2018, 39(9): 1850-1857.

ZHANG Jin-qiu, WANG Xing-ye, JIA Jin-feng, SUN Yi-quan, LI Xin. Parameter Analysis and Optimization of Finite Frequency H_∞ Control with Time Delay for Active Suspension[J]. Acta Armamentarii, 2018, 39(9): 1850-1857.

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