The research on finite frequency vibration control of electric vehicles with actuator input delay

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Journal of Vibration and Shock ›› 2016, Vol. 35 ›› Issue (11) : 130-137.

CHEN Chang-zheng1, 2 WANG Gang1 YU Shen-bo1

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Abstract

For an in-wheel motor driven electric vehicle, its propulsion system is installed on the wheel hub position and the unsprung mass of the vehicle suspension system is increased, which may severely deteriorate the riding comfort and cause problems like severe wear of motor bearings. Considering the above phenomenon as well as the input delay and parametric uncertainties of control loop, the thesis studies the finite frequency dynamic output-feedback vibration control strategy for this kind of suspension system. Compared with the traditional entire frequency H∞ approach, the approach introduced in the thesis can achieve a better disturbance attenuation within the frequency band during which the human body is comparatively more sensitive to vibration. In the meanwhile, related time-domain rigid constraints are also guaranteed. In order to minimize the singular value response of body acceleration to unsprung mass modal frequency and reduce the force transmitted to motor bearing, a dynamic vibration absorber (DVA) is installed in the motor bearing. Through the generalized Kalman-Yakubovich-Popov(KYP) lemma and Lyapunov-Krasovskii functional, the control criterion based on dynamic output-feedback is derived in the form of LMIs. At last, a numerical example is given to test and verify the applicability of the proposed control method in the frequency domain and time domain.

Key words

Finite frequency vibration control / Active suspensions / Input delay / Generalized KYP lemma / H&infin / control

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CHEN Chang-zheng1, 2 WANG Gang1 YU Shen-bo1. The research on finite frequency vibration control of electric vehicles with actuator input delay[J]. Journal of Vibration and Shock, 2016, 35(11): 130-137

References

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