摘要
悬架系统中存在参数不确定性和动态不确定性,用鲁棒H∞控制理论设计半主动悬架的控制器会使结果比较保守,提出了用结构奇异值μ方法来设计半主动悬架的控制器,μ方法可以把几个摄动块集中成一个对角阵来处理,克服了小增益定理的保守性。仿真结果表明,带有鲁棒μ控制的半主动悬架比带H∞控制的半主动悬架能更好地改善平顺性和接地性。
Robust H∞ control can design a good controller of system only contains one perturbed block, however, it still uses the little grain theorem to judge when it conducts the system that contained several perturbed blocks, which makes the results become conservativeness. There are parametric uncertainty and dynamic uncertainty in suspension system. Using robust H∞ control theory to design a controller of semi-active suspension makes the results conservativeness. A way of using the structured singular value μ method to design the controller of the semi-active suspension was proposed. Some perturbed blocks to a diagonal matrix could be integrated, and the conservativeness of the little gain theorem has been overcome. The simulation results showed that the semi-active suspension performances with robust μ control were much better than the suspension with H∞ control.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2007年第6期19-22,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
江苏省自然科学基金资助项目(项目编号:BK2001199)
关键词
车辆
半主动悬架
鲁棒μ控制
摄动块
Vehicle, Semi-active suspension, Robustness μ control, Perturbed block
