车辆座椅悬架系统的建模与H_∞鲁棒控制研究
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摘要
建立了四自由度的"车—椅—人"悬架系统动力学和数学模型.运用H∞鲁棒控制理论为车辆座椅悬架系统设计了鲁棒控制器,并且借助Matlab软件对鲁棒控制器和最优控制器的控制性能进行了仿真分析.仿真结果表明:与最优控制器相比所设计的鲁棒控制器能更好地抑制座椅悬架系统的垂直振动加速度,在共振频率附近其减振幅度能达到50%~60%,大大提高了乘坐舒适性,并且该系统能够承受一定的模型参数不确定性,具有良好的鲁棒稳定性.
The dynamic and mathematical models of the vehicle-seat-people suspension system with 4 degrees of freedom are built.Based on H∞ robust control theory,an H∞ controller is developed for this vehicle seat suspension system,and simulations are made with Matlab to compare and analyze the performance of H∞ controller and the optimal controller designed for the vehicle seat system.Simulation results show that the vehicle seat suspension system with robust controller can reduce the vertical vibration acceleration of the seat by 50%~60% around the resonant frequency,and can effectively improve the comfort degree of driver compared with the optimal controller.It is also pointed out that the designed H∞ controller is effective in system stability and robustness against some parameter fluctuations.
The dynamic and mathematical models of the vehicle-seat-people suspension system with 4 degrees of freedom are built.Based on H∞ robust control theory,an H∞ controller is developed for this vehicle seat suspension system,and simulations are made with Matlab to compare and analyze the performance of H∞ controller and the optimal controller designed for the vehicle seat system.Simulation results show that the vehicle seat suspension system with robust controller can reduce the vertical vibration acceleration of the seat by 50%~60% around the resonant frequency,and can effectively improve the comfort degree of driver compared with the optimal controller.It is also pointed out that the designed H∞ controller is effective in system stability and robustness against some parameter fluctuations.
引文
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[5]何炎权.基于磁流变阻尼器的半主动座椅悬架模糊控制研究[D].长沙:中南大学,2006.
[6]Hosoe A.The design of the control system,control and its appli-cation[Z].Tokyo:Asakura,1994.
[7]吴旭东,解学书.H∞鲁棒控制中的加权阵选择[J].清华大学学报(自然科学版),1997,37(1):27~30.
[8]薛定宇.反馈控制系统设计与分析:MATLAB语言应用[M].北京:清华大学出版社,2000.
[2]吴国栋.驾驶座椅动态优化设计中关于人体系统的建模问题[J].建筑机械,1996,(1):23~26.
[3]王珞民,徐国梁,金建峰.磁流变液的流变性能及其工程应用[J].中国机械工程,2002,13(3):267~270.
[4]欧进萍,关新春.磁流变耗能器及其性能[J].地震工程与工程振动,1998,18(3):74~81.
[5]何炎权.基于磁流变阻尼器的半主动座椅悬架模糊控制研究[D].长沙:中南大学,2006.
[6]Hosoe A.The design of the control system,control and its appli-cation[Z].Tokyo:Asakura,1994.
[7]吴旭东,解学书.H∞鲁棒控制中的加权阵选择[J].清华大学学报(自然科学版),1997,37(1):27~30.
[8]薛定宇.反馈控制系统设计与分析:MATLAB语言应用[M].北京:清华大学出版社,2000.
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