执行器有时滞的馈能式主动悬架的鲁棒控制-控制理论与应用.PDF

29 12 Vol. 29 No. 12 2012 12 Control Theory Applications Dec. 2012 :2012 , , , (1. , 610031; 2. , 614202) : , . , /H. , H. Lyapunov ; Lyapunov , . , , . 1/4; : , , : ; ; ; /H ; : TP273.1 : A Robust control for self-powered active suspension with time-delay in actuator WANG Peng , SONG Peng-yun , ZHANG Ji-ye , ZHANG Ke-yue (1. State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu Sichuan 610031, China; 2. Department of Civil Engineering, Southwest Jiaotong University, Emeishan Sichuan 614202, China) Abstract: For the self-powered active vehicle suspension system with parameter uncertainties and time-delay in the actuator, a guaranteed-cost/H-infinity robust controller is designed to ensure the system performances in stability, vibration isolation and energy feedback. In the controller design, parameter uncertainties and the time-delay in actuator are taken into consideration. The requirements on vehicle suspension systems are described by a quadratic weighted performance index and an H-infinity performance index. Both performance indices are combined into a Lyapunov function which is to be satisfied by the closed-loop system, formulating the design problem into linear matrix inequalities that are solved for the controller. Based on the DC motor principle, the impact of parameter perturbations and time-delay in the actuator on the energy balance is analyzed, and an energy balance equation is developed. Simulation is made on a two degrees-of-freedom quarter-c