基于动态输出反馈的半车主动悬架系统鲁棒控制

摘要

研究了半车主动悬架系统基于输出反馈的干扰抑制鲁棒控制问题。首先建立了半车主动悬架系统的动力学模型，然后针对车体位置和速度、车身俯仰角度和角速度、前后车轮位置和速度无传感器测量情况下，系统中还存在非线性和外界扰动的现象，提出了一种动态输出反馈鲁棒干扰抑制控制策略。理论推导和仿真结果都证明了所设计控制器的正确性和有效性，通过和传统的PID控制算法相对比，进一步说明所设计的控制器能提高汽车的行驶平顺性和操作稳定性。%A robust disturbance attenuation control problem based on output feedback was investigated for a half-car hydraulic active suspension system.Firstly,the dynamic model of the half-car hydraulic active suspension system was established.Then,Aiming at cases of direct measurement not suitable for position and velocity of car body,pitch angle and angular velocity of automobile body as well as position and velocity of front and rear wheels,considering existience of nonlinearity and external disturbance in the system,a dynamic output feedback-based robust control strategy with robust disturbance attenuation was proposed.The effectiveness of the designed controller was verified with both theoretical analysis and simulation results.Compared with the conventional PID algorithm,the improvement in ride comfort and the enhancement in handling and stability of a vehicle could be achieved with the controller designed here.