考虑执行器响应时滞的磁流变悬架H2/H∞鲁棒控制研究

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摘要针对磁流变阻尼器响应时滞对半主动悬架系统控制效果和稳定性造成的不良影响，设计了一种时滞H2/H∞鲁棒控制器对执行器输入的定常时滞进行鲁棒控制，推导了控制器反馈控制增益和系统临界时滞；开展了磁流变阻尼器力学试验并对Bingham模型实现参数识别；基于MotoTron平台完成了驱动电流PI控制参数整定，使阻尼器响应时滞降低到临界时滞以内。仿真结果表明：C级随机路面下，所设计的时滞H2/H∞鲁棒控制器相比被动悬架和不考虑时滞的鲁棒控制器，车身加速度和悬架动挠度分别降低了24.52%、9.79%、11.26%和7.19%，乘坐舒适性得到明显改善，轮胎动载荷相比鲁棒控制优化了3.21%，兼顾了行驶安全性。为进一步验证时滞H2/H∞鲁棒控制器实际工作性能，设计了悬架ECU，开展了单轮悬架台架试验。试验结果表明：时滞H2/H∞鲁棒控制器能保证时滞输入系统的控制性能和稳定性。

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	孙东1
	汪若尘1
	丁仁凯2
	刘伟1
	孟祥鹏2

关键词 ：半主动悬架；响应时滞；时滞H2/H&infin, 鲁棒控制器；PI控制；试验

Abstract：Aiming at the adverse effects of the magnetorheological damper response time-delay on the control effect and stability of the semi-active suspension system, a time-delay H2/H∞ robust controller was designed to control the actuator’s steady time-delay input robustly. The controller feedback control gain and system critical time-delay were derived. The mechanical test of the magnetorheological damper was carried out and the parameter identification of the Bingham model was realized. Based on the MotoTron platform, the parameter tuning of the driving current PI control was completed, which reduced the response time-delay of the damper to the critical value. The simulation results show that on the C-level random road, the body acceleration of the designed time-delay H2/H∞ robust controller decreases by 24.52%、9.79%、11.26% and 7.19% compared with passive suspension and robust controller without considering time-delay. Ride comfort has been significantly improved. The tire load of the robust controller drops 4.63% compared with the skyhook controller, which has a good tradeoff between the ride comfort and the driving safety. In order to further verify the actual performance of the robust controller, the suspension ECU was designed and the single-wheel suspension bench test was conducted. The test results show that the time-delay H2/H∞ robust controller can ensure the control performance and stability of the time-delay input system.

Key words： semi-active suspension response time-delay time-delay H2/H&infin robust controller PI control test

收稿日期: 2020-10-20 出版日期: 2022-04-15

引用本文:

孙东1，汪若尘1，丁仁凯2，刘伟1，孟祥鹏2. 考虑执行器响应时滞的磁流变悬架H2/H∞鲁棒控制研究[J]. 振动与冲击, 2022, 41(7): 276-282.
SUN Dong1, WANG Ruochen1, DING Renkai2, LIU Wei1, MENG Xiangpeng2. H2/H∞ robust control of magnetorheological suspension considering actuator response time-delay. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(7): 276-282.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2022/V41/I7/276

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