汽车主动悬架系统H∞控制器的降阶-控制理论与应用.PDF

24 4 Vol. 24 No. 4 2007 8 Control Theory Applications Aug. 2007 2007 H , , (1. , 230009; 2. , 230009) : , . , . 7 . , H. Hankel , , Hankel. , Hankel , . : ; H; Hankel; ; : TP13 : A Order-reduction of H-infinity controller for the active suspension system of vehicle FANG Min , WANG Hong-bo , CHEN Wu-wei (1. School of Electrical Engineering and Automation, Hefei University of Technology, Hefei Anhui 230009, China; 2. School of Mechanical and Automobile Engineering, Hefei University of Technology, Hefei Anhui 230009, China) Abstract: The active suspension control system based on the full-vehicle model is usually with a high-order controller. How to reduce the order of controller as low as possible and preserve the performance of closed-loop system is a problem which should be solved. In this paper, a state-space model for a 7-DOF full-vehicle active suspension system is firstly built. By considering the sensitivity of human to vibration, an H-infinity controller is then designed based on the model. The optimal Hankel-norm reduction(OHNR) method is utilized in the study of order-reduction for the designed high-order controller. Comparing with modal truncation method and balanced truncation method, it is shown that OHNR method can obtain a better order-reduction effect. Finally, the simulation results of the reduced-order and full-order active suspension systems demonstrate that the controller order can be considerably reduced by the OHNR method, and that the frequency domain and time domain perf