基于H2/H∞控制的汽车主动悬架最优鲁棒容错控制

中国机械工程 ›› 2012, Vol. 23 ›› Issue (24): 3013-3019.

基于H2/H∞控制的汽车主动悬架最优鲁棒容错控制

杨柳青1,2;陈无畏1;汪洪波1

1.合肥工业大学,合肥,230009
2.安徽交通职业技术学院,合肥,230051

出版日期:2012-12-25 发布日期:2013-01-06
基金资助:
国家自然科学基金资助项目（51075112）;安徽省高校省级自然科学研究项目（KJ2012B050）
National Natural Science Foundation of China（No. 51075112）;
Anhui Provincial Natural Science Research Program of Higher Education of China（No. KJ2012B050）

Optimal Robust Fault Tolerant Control for Vehicle Active Suspension System Based on H2/H∞ Approach

Yang Liuqing1,2;Chen Wuwei1;Wang Hongbo1

1.Hefei University of Technology,Hefei,230009 
2.Anhui Communications Vocational and Technical College,Hefei,230051

Online:2012-12-25 Published:2013-01-06
Supported by:

National Natural Science Foundation of China（No. 51075112）;
Anhui Provincial Natural Science Research Program of Higher Education of China（No. KJ2012B050）

摘要/Abstract

摘要：

为提高汽车主动悬架控制可靠性和控制效果，针对悬架参数摄动和作动器故障，提出一种基于H2/H∞的最优鲁棒容错控制方法。考虑作动器常见故障、悬架刚度与阻尼系数摄动，建立故障悬架模型。基于H2/H∞状态反馈控制,利用有界实引定理推导出悬架最优鲁棒容错控制器设计条件。运用LMI工具箱离线设计控制器，并在MATLAB/Simulink环境下进行大量仿真计算。结果表明,设计的最优鲁棒容错控制器能改善汽车主动悬架乘坐舒适性，亦能改善故障悬架乘坐舒适性,且在控制效果上均优于完好无故障状态下设计的控制器。

关键词: 汽车主动悬架, 鲁棒容错控制, 参数摄动, 作动器故障

Abstract:

To improve control reliability and performance of a vehicle active suspension system,an optimal robust fault tolerant control method was put forward based on H2/H∞ control for active suspension system with suspension parameter disturbance and actuator fault.The fault suspension models were built considering
the ordinary actuator faults and parameter disturbance for suspension's stiffness disturbance and damping coefficient disturbance.Based on the multi-objective H2/H∞ state-feedback control approach and by bounded real cited theorem,the
design condition of the optimal robust fault tolerant control for the suspension models was derived.
By linear matrix inequality toolbox, an optimal robust fault tolerant controller under out-line state was designed for fault closed-loop system.
Finally under the MATLAB/Simulink environment, the considerable simulations were carried out.The results show that proposed controller can improve
the ride comfort performance of vehicle active suspension and of
fault suspension too.Furthermore, control performance of the optimal
robust fault tolerant controller is superior to the controller designed under the state of perfect suspension without faults.

Key words: vehicle active suspension, robust fault tolerant control, parameter disturbance, actuator fault

中图分类号:

U461.4

杨柳青1, 2, 陈无畏1, 汪洪波1. 基于H2/H∞控制的汽车主动悬架最优鲁棒容错控制[J]. 中国机械工程, 2012, 23(24): 3013-3019.

YANG Liu-Jing-1, 2, CHEN Mo-Wei-1, HONG Hong-Bei-1. Optimal Robust Fault Tolerant Control for Vehicle Active Suspension System Based on H2/H∞ Approach[J]. China Mechanical Engineering, 2012, 23(24): 3013-3019.

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