在多目标控制框架下,提出了一种主动悬架H∞/广义H2静态输出反馈控制方法。选用H∞范数作为乘坐舒适性能的指标,利用广义H2范数来描述悬架系统时域约束要求。为求解静态输出反馈增益,采用差分进化算法(DEA)和线性矩阵不等式(LMI)相结合的算法,即用DEA来得到控制器的样本,并在满足广义H2约束的条件下,用LMI方法最小化系统的H∞性能指标。以悬架行程作为反馈信号,对四自由度半车主动悬架系统进行了频域分析和时域仿真。结果表明:静态输出反馈控制方法能使悬架性能得到明显改善。
Abstract
Under the multi-object control framework, an H∞/generalized H2 static output feedback control method was presented for active suspension control. The H∞ norm was used as the criterion of ride comfort and the generalized H2 norm was used to describe the constraints of time domain. In order to find the gain of static output feedback, differential evolution algorithm (DEA) and linear matrix inequality (LMI) method were utilized together, namely DEA was employed to get controller samples and LMI was used to minimize the H∞ performance index under the constraint of the generalized H2 norm. Frequency-domain analysis and time domain simulation for a 4 degree of freedom (DOF) half-car active suspension system were done based on the feedback of suspension deflection. Simulated results show that static output feedback control method can obviously improve the suspension performance.
关键词
汽车工程 /
主动悬架 /
差分进化算法 /
多目标控制 /
静态输出反馈 /
H∞/广义H2
{{custom_keyword}} /
Key words
automotive engineering /
active suspension /
differential evolution algorithm /
multi-object control /
static output feedback /
H∞/generalized H2
{{custom_keyword}} /
中图分类号：
U463.33
{{custom_clc.code}}
({{custom_clc.text}})
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] HROVAT D.Survey of Advanced Suspension Developments and Related Optimal Control Applications[J].Automatica,1997,33(10):1781-1817.
[2]GAO H J,LAM J,WANG C H.Multi-objective Control of Vehicle Active Suspension Systems via Load Dependent Controllers[J].Journal of Sound and Vibration, 2006,290(3/4/5):654-675.
[3]WANG J,WILSON D A.Mixed GL2/H2/GH2 Control with Pole Placement and Its Application to Ve-hicle Suspension Systems[J].International Journal of Control,2001,74(13):1353-1369.
[4]方 敏,史明光,陈无畏.汽车主动悬架多目标H2/H∞混合控制[J].农业机械学报,2005,36(3):4-7.
FANG Min,SHI Ming-guang,CHEN Wu-wei.Research on Multi-objective and Mixed H2/H∞ Control of Vehicle Active Suspension[J].Transactions of the Chinese Soci-ety of Agricultural Machinery,2005,36(3):4-7.
[5]孙鹏远.基于LMI优化的主动悬架多目标控制研究[D].长春:吉林大学,2004.
SUN Peng-yuan.Multi-objective Control to Active Suspensions Based on LMI Optimization[D].Changchun:Jilin University,2004.
[6]CHEN H,GUO K H.Constrained H∞ Control of Active Suspensions:an LMI Approach[J].IEEE Transactions on Control Systems Technology,2005,13(3):412-421.
[7]ROTEA M A.The Generalized H2 Control Problem[J].Automatica,1993,29(2):373-385.
[8]BOYD S,GHAOUI L E,FERON E,et al.Linear Matrix Inequalities in System and Control Theory[M].Philadelphia:Society for Industrial and Applied Mathematics,1994.
[9]时圣柱.基于BMI方法的静态输出反馈控制设计[D].南京:南京理工大学,2007.
SHI Sheng-zhu.Design of Static Output Feedback Based on BMI Method[D].Nanjing:Nanjing University of Science and Technology,2007.
[10]STORN R,PRICE K.Differential Evolution－a Simple and Efficient Heuristic for Global Optimization over Continuous Spaces[J].Journal of Global Optimization,1997,11(4):341-359.
{{custom_fnGroup.title_cn}}
脚注
{{custom_fn.content}}
基金
国家自然科学基金项目(59705005);吉林大学“九八五”工程项目(450022102002)
{{custom_fund}}
{{custom_fund}}
PDF全文下载(718 KB)
