基于新型优化算法的主动悬架鲁棒输出反馈控制研究
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摘要
悬架是车辆的重要组成部分,它对车辆的性能有着十分重要的影响。相对于传统的被动悬架而言,主动悬架对于改善车辆行驶平顺性和操纵稳定性具有重要的意义。本文结合吉林大学985二期工程“汽车工程科技创新平台”建设项目和教育部新世纪优秀人才资助计划项目“惯性调控主动/半主动悬架技术研究”,以提高车辆行驶平顺性和操纵稳定性为主要目的,对主动悬架鲁棒控制策略进行了深入系统的研究。
针对以往鲁棒控制器复杂、实用性差等缺陷,本文研究了主动悬架鲁棒输出反馈控制问题。选取闭环系统的H∞性能和H2性能作为优化指标,基于双线性矩阵不等式(BMI)技术提出了鲁棒输出反馈控制器存在的充分条件,以保证主动悬架闭环系统具有一定的稳态和动态性能。本文首先对BMI优化问题的求解方法进行了研究,提出了将线性矩阵不等式(LMI)与差分进化算法(DE)相结合的新型优化算法(DELMI算法),而后将其应用于主动悬架鲁棒控制器的求解中;其次,对主动悬架的单目标和多目标输出反馈控制进行了研究,通过与以往主动悬架的对比验证了所提控制策略的可行性和有效性;最后,为了避免控制器摄动给系统带来的不利影响,对主动悬架的非脆弱H2/广义H2控制问题进行了研究。本文对所提出的控制策略逐一进行了公式推导,利用DELMI算法进行了实例设计,并从频域、时域和鲁棒性等方面对主动悬架的性能作了仿真与分析。
由于主动悬架是由被动悬架和作动器组成,因此被动悬架的性能将影响到控制策略的选取以及主动悬架的最终性能。试验部分首先对被动悬架进行了性能测试,验证了被动悬架自身参数的不确定性,表明了采用鲁棒控制策略设计主动悬架的合理性;其次,针对主动悬架进行了基于dSPACE的实时仿真试验,结果进一步验证了所提出控制算法的有效性。本文的研究成果可为主动悬架控制技术的实用化提供参考。
As one of the most important parts of a vehicle, suspension plays an important role on attenuating the excitation caused by road unevenness, and holding adhesion tire and road. Spring stiffness and damping coefficient of passive suspension are chosen according to experience or a specific optimization method. Once chosen, they can’t be changed so that passive suspension can’t adapt the complex levity of vehicle parameters and working condition. Profound researches on active suspension system and its control technology have been carried out to overcome the limitation of passive suspension. With contrast to passive suspension, active suspension can provide timely active forces according to vehicle movement state and road profile to make suspension working with its optimal state, so active suspension plays an important role on improving vehicle performance. As an active research domain, research on active suspensions has become an advanced subject in the field of vehicle dynamics and control.
This dissertation combined the Jiin University 985 automobile innovation project and new century excellent talents in ministry of education-funded project "inertial control active/semi-active suspension technology research", which mainly study the output feedback robust control of active suspension to solve the complexity and bad practicality of robust controller. This dissertation chooses different optimization performances to design several kinds of active suspension according to different feedback signals. After comparing and analyzing the designed active suspensions, this dissertation concludes the best control strategy. The main researches are stated as follows:
Chapter 1 Exordium. Introduce the function of active suspension briefly; summarize its status, trends and performance requirements, concludes the existing problems on robust control of active suspension home and abroad. On this basis, the main study content is presented.
Chapter 2 Model of active suspension and its performance evaluation. First, different road profiles and their math models are introduced. Second, establish the half-car active suspension model based on suspension system dynamics equation, and clearly illustrates the performance requirements of active suspension. Finally, on the basis of establishing the uncertain half-car suspension model to analyze robustness, method is stated for evaluating active suspension system, which lays a theoretical basis for suspension design and performance appraisal.
Chapter 3 Noval optimization algorithm of active suspension. First, the basic knowledge of linear matrix inequality (LMI) is introduced. Second, introduce a new evolution technology—differential evolution by illustrating its characteristic, realization process and application. Finally, a hybrid algorithm by mixing DE and LMI as well as its steps and flow chart are presented in order to solve BMI optimization problem.
Chapter 4 Single-object robust output feedback control of active suspension. Taking H∞and H2 performance of active suspension as optimization targets, we study the optimal H∞and H2 active suspension control. According to different feedback signals, we design several kinds of active suspensions by DELMI, and then compare them from the aspects of frequency domain, time domain and robustness. Simulation results show that active suspension designed by suspension deflection owns the best performance.
Chapter 5 Multi-object robust output feedback control of active suspension. In order to meet the demands of various performances, we choose H∞and H2 performance of optimization outputs as optimized target, and use generalized H2 (GH2) performance to make hard constraints changing in their allowable ranges. We design H∞/GH2 and H2/GH2 active suspension using DELMI, and then compare them with the reported active suspensions designed by state and output feedback control.
Chapter 6 Non-fragile H2/GH2 robust output feedback control of active suspension. Traditional robust controller is usually fragile. In order to overcome the shortcoming, we study the H2/GH2 non-fragile controller design based on output feedback using DELMI algorithm. Then, we design non-fragile active suspension (NF active suspension) using suspension deflection. Simulation results confirm that NF active suspension is non-fragile and robust within the framework of the perturbation.
Chapter 7 Experiment section. First, we test the performance of passive suspension, illuminating the necessity of robust control. Second, disscuss the importance of real-time simulation in the early development of active suspension, and make dSPACE-based real-time simulation experiments to validate the correctness of the proposed control strategy.
Chapter 8 Conclusion and expectation. The main study achievements, creation parts in study are advanced, and the expectation for the future work is also put forward.
The innovative research works in this dissertation is as follows:
1. Present the existence condition of active suspension robust output feedback controller using BMI, and propose a noval optimization algorithm based on DE and LMI. The algorithm is simple and gives an important innovation in theory. DELMI algorithm is applied to the robust active suspension controller design, which demonstrates the practicability and effectiveness.
2. In order to design a simple robust active suspension controller with high performance, a single target and multi-objective robust output feedback control is studied. Simulation results show that H2MC2 suspension has the best performance which can achieve even surpass the reported suspensions.
3. From the point of practicality, non-fragile H2/GH2 output feedback control is studied considering the influence caused by controller perturbation. Based on DELMI algorithm, we design NF active suspension according to suspension deflection. Analysis results validate that it can restrain the bad influence caused by controller perturbation but also have strong robustness.
The research results in the dissertation give reference for the practicality of the vehicle active suspension.
针对以往鲁棒控制器复杂、实用性差等缺陷,本文研究了主动悬架鲁棒输出反馈控制问题。选取闭环系统的H∞性能和H2性能作为优化指标,基于双线性矩阵不等式(BMI)技术提出了鲁棒输出反馈控制器存在的充分条件,以保证主动悬架闭环系统具有一定的稳态和动态性能。本文首先对BMI优化问题的求解方法进行了研究,提出了将线性矩阵不等式(LMI)与差分进化算法(DE)相结合的新型优化算法(DELMI算法),而后将其应用于主动悬架鲁棒控制器的求解中;其次,对主动悬架的单目标和多目标输出反馈控制进行了研究,通过与以往主动悬架的对比验证了所提控制策略的可行性和有效性;最后,为了避免控制器摄动给系统带来的不利影响,对主动悬架的非脆弱H2/广义H2控制问题进行了研究。本文对所提出的控制策略逐一进行了公式推导,利用DELMI算法进行了实例设计,并从频域、时域和鲁棒性等方面对主动悬架的性能作了仿真与分析。
由于主动悬架是由被动悬架和作动器组成,因此被动悬架的性能将影响到控制策略的选取以及主动悬架的最终性能。试验部分首先对被动悬架进行了性能测试,验证了被动悬架自身参数的不确定性,表明了采用鲁棒控制策略设计主动悬架的合理性;其次,针对主动悬架进行了基于dSPACE的实时仿真试验,结果进一步验证了所提出控制算法的有效性。本文的研究成果可为主动悬架控制技术的实用化提供参考。
As one of the most important parts of a vehicle, suspension plays an important role on attenuating the excitation caused by road unevenness, and holding adhesion tire and road. Spring stiffness and damping coefficient of passive suspension are chosen according to experience or a specific optimization method. Once chosen, they can’t be changed so that passive suspension can’t adapt the complex levity of vehicle parameters and working condition. Profound researches on active suspension system and its control technology have been carried out to overcome the limitation of passive suspension. With contrast to passive suspension, active suspension can provide timely active forces according to vehicle movement state and road profile to make suspension working with its optimal state, so active suspension plays an important role on improving vehicle performance. As an active research domain, research on active suspensions has become an advanced subject in the field of vehicle dynamics and control.
This dissertation combined the Jiin University 985 automobile innovation project and new century excellent talents in ministry of education-funded project "inertial control active/semi-active suspension technology research", which mainly study the output feedback robust control of active suspension to solve the complexity and bad practicality of robust controller. This dissertation chooses different optimization performances to design several kinds of active suspension according to different feedback signals. After comparing and analyzing the designed active suspensions, this dissertation concludes the best control strategy. The main researches are stated as follows:
Chapter 1 Exordium. Introduce the function of active suspension briefly; summarize its status, trends and performance requirements, concludes the existing problems on robust control of active suspension home and abroad. On this basis, the main study content is presented.
Chapter 2 Model of active suspension and its performance evaluation. First, different road profiles and their math models are introduced. Second, establish the half-car active suspension model based on suspension system dynamics equation, and clearly illustrates the performance requirements of active suspension. Finally, on the basis of establishing the uncertain half-car suspension model to analyze robustness, method is stated for evaluating active suspension system, which lays a theoretical basis for suspension design and performance appraisal.
Chapter 3 Noval optimization algorithm of active suspension. First, the basic knowledge of linear matrix inequality (LMI) is introduced. Second, introduce a new evolution technology—differential evolution by illustrating its characteristic, realization process and application. Finally, a hybrid algorithm by mixing DE and LMI as well as its steps and flow chart are presented in order to solve BMI optimization problem.
Chapter 4 Single-object robust output feedback control of active suspension. Taking H∞and H2 performance of active suspension as optimization targets, we study the optimal H∞and H2 active suspension control. According to different feedback signals, we design several kinds of active suspensions by DELMI, and then compare them from the aspects of frequency domain, time domain and robustness. Simulation results show that active suspension designed by suspension deflection owns the best performance.
Chapter 5 Multi-object robust output feedback control of active suspension. In order to meet the demands of various performances, we choose H∞and H2 performance of optimization outputs as optimized target, and use generalized H2 (GH2) performance to make hard constraints changing in their allowable ranges. We design H∞/GH2 and H2/GH2 active suspension using DELMI, and then compare them with the reported active suspensions designed by state and output feedback control.
Chapter 6 Non-fragile H2/GH2 robust output feedback control of active suspension. Traditional robust controller is usually fragile. In order to overcome the shortcoming, we study the H2/GH2 non-fragile controller design based on output feedback using DELMI algorithm. Then, we design non-fragile active suspension (NF active suspension) using suspension deflection. Simulation results confirm that NF active suspension is non-fragile and robust within the framework of the perturbation.
Chapter 7 Experiment section. First, we test the performance of passive suspension, illuminating the necessity of robust control. Second, disscuss the importance of real-time simulation in the early development of active suspension, and make dSPACE-based real-time simulation experiments to validate the correctness of the proposed control strategy.
Chapter 8 Conclusion and expectation. The main study achievements, creation parts in study are advanced, and the expectation for the future work is also put forward.
The innovative research works in this dissertation is as follows:
1. Present the existence condition of active suspension robust output feedback controller using BMI, and propose a noval optimization algorithm based on DE and LMI. The algorithm is simple and gives an important innovation in theory. DELMI algorithm is applied to the robust active suspension controller design, which demonstrates the practicability and effectiveness.
2. In order to design a simple robust active suspension controller with high performance, a single target and multi-objective robust output feedback control is studied. Simulation results show that H2MC2 suspension has the best performance which can achieve even surpass the reported suspensions.
3. From the point of practicality, non-fragile H2/GH2 output feedback control is studied considering the influence caused by controller perturbation. Based on DELMI algorithm, we design NF active suspension according to suspension deflection. Analysis results validate that it can restrain the bad influence caused by controller perturbation but also have strong robustness.
The research results in the dissertation give reference for the practicality of the vehicle active suspension.
引文
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