摘要
针对随机干扰环境下一类新型主动式车辆座椅悬架系统,基于未知观测器根据可测量的座椅加速度来估计座椅在车辆行驶过程中产生的摩擦力,并给出具有摩擦补偿的鲁棒H_∞控制器设计方法,以控制车辆座椅悬架在被动状态下所传递的低频振动.首先,建立座椅悬架系统的动力学模型,建模过程中考虑系统中存在的摩擦力及座椅随机振动等干扰因素;其次,建立基于线性矩阵不等式(linear matrix inequality, LMI)的稳定判据,并保证系统的H_∞性能指标,利用LMI求解未知观测器的增益和控制器增益;最后,建立仿真模型并以白噪声作为路面激励,通过对加速度、位移和摩擦力估计在有无控制器状态下的对比实验验证扰动作用下具有摩擦补偿的鲁棒H_∞控制器的有效性.仿真结果表明,在随机干扰下受该方法控制的主动式座椅悬架具有良好的瞬态响应性能,能够有效抑制座椅悬架的垂直振动和增强乘坐的舒适性.
For random disturbance environment of active vehicle seat suspension system,the friction of the seat produced in the process is estimated by an unknown observer on seat acceleration.A new type of robust H∞ controller with friction compensation is proposed to control the low frequency vibration of the vehicle seat suspension in the passive state.Firstly,the dynamic model of the seat suspension system is established.The friction force and random vibration of the seat and other interference factors in the system are considered in the modeling process.Secondly,the stability criterion based on Linear matrix inequality(LMI)is established,and the performance index of the system is guaranteed.LMI is used to solve the gain of the unknown observer and the controller.Finally,a simulation model is established and white noise is used as the road surface excitation.The effectiveness of the robust controller with friction compensation under disturbance is verified by comparing the acceleration,displacement and friction estimation with and without any controller.Simulation results show that the active seat suspension controlled by this method under random interference has good transient response performance,which can effectively restrain the vertical vibration of seat suspension and enhance the comfort of human riding.
作者
贾忠益
姜陶然
李涛
JIA Zhongyi;JIANG Taoran;LI Tao(College of Automation,Nanjing University of Information Science & Technology,Nanjing 210044,China)
出处
《扬州大学学报（自然科学版）》
CAS
北大核心
2019年第1期32-38,共7页
Journal of Yangzhou University：Natural Science Edition
基金
国家自然科学基金资助项目(61573189)
江苏省六大人才高峰计划资助项目(2015-DZXX-013)
