王刚,陈长征,于慎波.含路面预瞄信息的车辆主动悬架有限频域多目标控制[J].农业机械学报,2015,46(12):294-300.
Wang Gang,Chen Changzheng,Yu Shenbo.Finite Frequency Multi-objective Control of Vehicle Active Suspension with Road Preview Information[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):294-300.
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含路面预瞄信息的车辆主动悬架有限频域多目标控制   [下载全文]
Finite Frequency Multi-objective Control of Vehicle Active Suspension with Road Preview Information   [Download Pdf][in English]
投稿时间:2015-05-07  
DOI:10.6041/j.issn.1000-1298.2015.12.040
中文关键词:  车辆主动悬架  有限频域  H ∞ 控制  路面预瞄  速度依赖控制器
基金项目:国家自然科学基金资助项目(51175350)
作者单位
王刚 沈阳工业大学 
陈长征 沈阳工业大学
辽宁省振动噪声控制技术工程研究中心 
于慎波 沈阳工业大学 
中文摘要:提出了一种考虑路面预瞄信息的有限频域线性变参数控制器设计方法,并将其应用于时变速度下的车辆悬架多目标控制。在控制器设计中,首先,利用Padé近似的方法处理一定距离内的路面预瞄信息,将车辆悬架系统增广为含速度信息的状态空间方程。其次,采用多胞形结构描述车辆前进速度的时变性。考虑到人体对4~8 Hz范围内的振动加速度较为敏感,且路面干扰仅发生在有限频段内,传统的全频域 H ∞ 控制方法并不能取得最优性能。以车身垂直加速度的有限频域 H ∞ 范数为优化性能指标,使其在路面干扰下的能量增益在关心频段内达到最小,同时考虑相关的时域约束条件。最后,通过数值实例验证了所提方法的有效性,对比于传统的全频域方法及无路面预瞄的控制方法,该方法能在时域约束条件得到满足的同时,有效地提高车辆的舒适性。
Wang Gang  Chen Changzheng  Yu Shenbo
Shenyang University of Technology,Shenyang University of Technology;Liaoning Engineering Center for Vibration and Noise Control and Shenyang University of Technology
Key Words:Vehicle active suspensions  Finite frequency  H ∞ control  Road preview  Velocity-dependent controller
Abstract:A finite frequency linear parameter-varying (LPV) controller design approach with look-ahead preview measurements was presented, and the proposed approach was applied to a multi-objective control problem of vehicle active suspension systems with time-varying velocity. Firstly, the Padé approximant method was used to deal with the preview information, so as to get the augmented system of active suspension with velocity information in the form of state-space equation. Secondly, the time-varying velocity was described by a polytope with finite vertices. As human body is fairly sensitive to the car body vertical acceleration within 4~8 Hz, and road disturbance happens only within the finite frequency domain range, the traditional H ∞ method over the infinite frequency range can not result in the optimum control plan obviously. The H ∞ norm of the car body acceleration was used as the performance optimization index to make it acquire the optimum energy gain attenuation within the concerned frequency band. In addition, the time-domain constraint conditions were guaranteed as well. The controller, whose gain matrix depended on the measurement information of the velocity, was designed in the form of linear matrix inequality (LMI). Finally, a numerical example was used to verify the reliability of the method, simulation results illustrated the usefulness and advantages of the proposed method and the designed controller can achieve better comfort than the traditional entire frequency-domain control approach and ensure that hard constraints are satisfied.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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