含有时滞的汽车主动悬挂系统的减振控制
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摘要
本文研究了含有控制时滞的汽车主动悬挂系统的减振控制问题,其研究内容概括如下：
1、研究汽车在粗糙路面行驶中主动悬挂系统的最优减振控制问题。在考虑控制器时滞的情况下,利用二自由度四分之一悬挂系统动力模型和路面随机激励输入的时域模型,根据汽车驾驶的舒适性和操控稳定性指标设计了汽车主动悬挂系统基于控制器时滞的反馈最优减振控制律,利用模型转换将时滞系统转换为形式上不含有时滞的系统,通过Riccati方程和Sylvester方程求得最优解,并证明了最优解的存在唯一性。数字仿真结果表明设计的控制律使汽车主动悬挂系统可以在有界驱动器时滞存在的情况下保持闭环系统稳定,而且较不考虑时滞的控制器性能其性能有较大的提高。
2、研究汽车在粗糙路面行驶中具有控制时滞的主动悬挂系统H∞减振控制。假定驱动器时滞是不确定的但是有界。在考虑时滞的情况下,建立了八自由度整车悬挂系统动力模型,然后根据汽车驾驶的舒适性和车轮抓地性指标设计了汽车主动悬挂系统基于驱动器时滞的无记忆状态反馈H∞控制律,并通过基于时滞的矩阵不等式求得最优解。将所设计的控制律运用于具有驱动器时滞的汽车主动悬挂减振控制进行仿真实验,仿真结果验证了它不但能使汽车的主动悬挂系统获得最优性能,而且可以在有界驱动器时滞存在的情况下保持闭环系统稳定。
In this thesis, the disturbance rejection problem for linear systems with control delays is researched. The contents of the research are as follows:
1. The optimal vibration control for vehicle active suspension systems with controller delay is considered. The time delay for the controller is assumed as uncertain time-invariant but has a known constant bound. The dynamic models for the 2-degree-freedom quarter-car suspension system and the time domain model [1] for the road roughness stochastic power input are established. The control delay is transformed into an equivalent nondelayed one in form by the mode transformation. then according to the standards of road comfort and road holding the optimal state feedback vibration control law is designed, which can be obtained optimally through Riccati and Sylvester equations. The optimal vibration control law is proved to be unique. It is confirmed by the simulations that the designed controller can not only preserve the closed-loop stability in spite of the existence of the actuator time delay within allowed bound but achieve a better performance than the delay-independent controller.
2. The H∞control for vehicle active suspension systems with controller delay is considered. The time delay for the actuator is assumed as uncertain time-invariant but has a known constant bound, and the dynamic models for the eight-degree-freedom full-car suspension system and the temporal model for the road roughness stochastic power input are established. Then, according to the standards of road comfort and road holding the elay-dependent memoryless state feedback H∞controller is designed, which can be obtained optimally through delay-dependent matrix inequalities. It is confirmed by the simulations that the designed controller can not only achieve the optimal performance for active suspensions but also preserve the closed-loop stability in spite of the existence of the actuator time delay within allowable bound.
1、研究汽车在粗糙路面行驶中主动悬挂系统的最优减振控制问题。在考虑控制器时滞的情况下,利用二自由度四分之一悬挂系统动力模型和路面随机激励输入的时域模型,根据汽车驾驶的舒适性和操控稳定性指标设计了汽车主动悬挂系统基于控制器时滞的反馈最优减振控制律,利用模型转换将时滞系统转换为形式上不含有时滞的系统,通过Riccati方程和Sylvester方程求得最优解,并证明了最优解的存在唯一性。数字仿真结果表明设计的控制律使汽车主动悬挂系统可以在有界驱动器时滞存在的情况下保持闭环系统稳定,而且较不考虑时滞的控制器性能其性能有较大的提高。
2、研究汽车在粗糙路面行驶中具有控制时滞的主动悬挂系统H∞减振控制。假定驱动器时滞是不确定的但是有界。在考虑时滞的情况下,建立了八自由度整车悬挂系统动力模型,然后根据汽车驾驶的舒适性和车轮抓地性指标设计了汽车主动悬挂系统基于驱动器时滞的无记忆状态反馈H∞控制律,并通过基于时滞的矩阵不等式求得最优解。将所设计的控制律运用于具有驱动器时滞的汽车主动悬挂减振控制进行仿真实验,仿真结果验证了它不但能使汽车的主动悬挂系统获得最优性能,而且可以在有界驱动器时滞存在的情况下保持闭环系统稳定。
In this thesis, the disturbance rejection problem for linear systems with control delays is researched. The contents of the research are as follows:
1. The optimal vibration control for vehicle active suspension systems with controller delay is considered. The time delay for the controller is assumed as uncertain time-invariant but has a known constant bound. The dynamic models for the 2-degree-freedom quarter-car suspension system and the time domain model [1] for the road roughness stochastic power input are established. The control delay is transformed into an equivalent nondelayed one in form by the mode transformation. then according to the standards of road comfort and road holding the optimal state feedback vibration control law is designed, which can be obtained optimally through Riccati and Sylvester equations. The optimal vibration control law is proved to be unique. It is confirmed by the simulations that the designed controller can not only preserve the closed-loop stability in spite of the existence of the actuator time delay within allowed bound but achieve a better performance than the delay-independent controller.
2. The H∞control for vehicle active suspension systems with controller delay is considered. The time delay for the actuator is assumed as uncertain time-invariant but has a known constant bound, and the dynamic models for the eight-degree-freedom full-car suspension system and the temporal model for the road roughness stochastic power input are established. Then, according to the standards of road comfort and road holding the elay-dependent memoryless state feedback H∞controller is designed, which can be obtained optimally through delay-dependent matrix inequalities. It is confirmed by the simulations that the designed controller can not only achieve the optimal performance for active suspensions but also preserve the closed-loop stability in spite of the existence of the actuator time delay within allowable bound.
引文
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[3]Chisci L, Rossiter A, Zappa G. Systems with persistent disturbances:Predictive control with restricted constraints. Automatica,2001,37:1019-1028.
[4]Al-Holou N, Lahdhiri T, et al. Sliding mode neural network inference fuzzy logic control for active suspension systems. IEEE Transactions on Fuzzy Systems,2002,10(2):234-246.
[5]Du H, Zhang N. H∞ control of active vehicle suspensions with actuator time delay. Journal of Sound and Vibration,2007,301:236-252.
[6]Mianzo L, Peng H. LQ and H∞ preview control for a durability simulator. American Automation Control Council. Proc of American Control Conference,1997:699-703.
[7]Yao J T P. Concept of structural control. Journal of Structural Division,1972,98: 1567-1574.
[8]Kwon W H, Pearson A.E. Feedback stabilization of linear systems with delayed control。 IEEE Transations on Automatic Control,1980, AC-25 (2):266-269.
[9]Abdel-Rohman。Time-delay compensation in active damping of structures. Journal of Engineering Mechanics, ASCE,1987,113(11):1709-1719.
[10]Olbrot A W. Stabilizability, detectability, and spectrum assignment for linear autonomous systems with general time delays. IEEE Transations on Automatic Control,1978, AC-23 (5): 887-890.
[11]Artstein Z. Linear systems with delayed controls:a reduction. IEEE Transations on Automatic Control,1982, AC-27 (4):869-879.
[12]Fiagbedzi Y A, Pearson A.E. Feedback stabilization of linear autonomous time lag systems. IEEE Transations on Automatic Control,1986, AC-31 (9):847-855.
[13]郑锋,程勉,高为炳.点时滞系统的反馈镇定.应用数学学报,19(2)：165-174.
[14]Moon Y S, Park P, Kwon W H. Robust stabilization of uncertain input-delayed systems using reduction method. Automatica,2001,37:307-312.
[15]Riccard J P. Time-delay systems:an overview of some recent advances and open problems. Automatica,2003,39:1667-1694.
[16]Yue Y. Robust stabilization of uncertain systems with unknown input delay. utomatica,2004, 40:331-336.
[17]Abdallah C, Dorato P, Benitez-Read J, Byrne R. Delayed positive feedback can stabilize oscillatory systems. American Control Conference,1993, pp.3106-3107.
[18]Tang G Y tabilization for simple systems via delayed proportional controller. Proc of World Congress on Intelligent Control and Automation,2006, pp.349-353.
[19]Ma H, Tang G Y, Zhao Y D. Feedforward and feedback optimal control for offshore structures subjected to irregular wave forces. Ocean Engineering,,2006,33 (8-9): 1105-1117.
[20]Wang W, Tang G Y. Feedback and feedforward optimal control for offshore jacket platforms. China Ocean Engineering,,2004,18 (4):515-526.
[21]Yang Y S. Robust adaptive fuzzy control and its application to ship roll stabilization. International Journal of Information Science,2002,25 (2):1-18.
[22]Wells R L, Schueller J K, Tlusty J. Feedforward and feedback control of a flexible robotic arm. IEEE Control Systems Magazine,1990, pp.9-15.
[23]Chung L L, Lin C C, Lu K H. Time-delay control of structures. Earthquake Engineering and Structural,1995,24:687-701.
[24]Orccotoma J A, Paris J, Perrier M. Thesis machine controllability:Effect of disturbances on basis weight and first-pass retention. Journal of Process Control,2001,11 (4):401-408.
[25]Jose J, Taylor R J, De R A. Callafon, F.E. Talke. Characterization of lateral tape motion and disturbances in the servo position error signal of a linear tape drive. Tribology International, 2005,38 (6-7):625-632.
[26]Tang G Y, Gao D X. Approximation design of optimal controllers for nonlinear systems with sinusoidal disturbances. Nonlinear Analysis:Theory, Methods and Applications,2007, 66 (2):403-414.
[27]Tang G Y, Zhao Y D. Optimal control for nonlinear time-delay systems with persistent disturbances. Journal of Optimization Theory and Applications,2007,132 (2):307-320.
[28]Tang G-Y, Zhang S-M. Optimal rejection with zero steady-state error to sinusoidal disturbances for time-delay. Asian Journal of Control,2006,8 (2):117-123.
[29]Tang G-Y, Sun H Y, Liu Y M. Optimal control for discrete time-delay systems with persistent disturbances. Asian Journal of Control,2006,8 (2):135-140.
[30]Mascolo S. Smith's principle for congestion control in high-speed data networks. IEEE Transactions on Automatic Control,2000,45 (2):358-364.
[31]唐功友.时滞系统的降维状态预测观测器及预测控制器设计.控制理论与应用,2004,21(2)：295-298.
[32]Matausek M R, Micic A D. On the modified Smith predictor for controlling a process with an integrator and long dead-time. IEEE Transactions on Automatic Control,1996,41 (8): 1199-1203.
[33]Matausek M R, Micic A D. A modified Smith predictor for controlling a process with an integrator and long dead-time. IEEE Transactions on Automatic Control,1999,44 (8): 1603-1606.
[34]Stojic M R, Matijevic M S, Draganovic L S. A robust Smith predictor modified by internal models for integrating process with dead time. IEEE Transactions on Automatic Control, 2001,46(8):1293-1298.
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