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摘要: 为保证一类具有参数不确定的铁道车辆横向能量回馈式主动悬挂系统的稳定性, 通过引入带有交叉乘积项的二次型调节器, 提出了一种鲁棒H∞控制器的设计方法, 并对含摄动的悬挂系统模型进行了鲁棒H∞控制器设计。分析了具有参数摄动的能量回馈式主动悬挂系统的能量平衡条件, 并在MATLAB/SIMULINK下, 对控制系统进行了仿真。仿真结果表明: 不确定闭环系统的结构奇异值峰值为0.867 5, 鲁棒H∞控制器使得能量回馈式主动悬挂系统鲁棒稳定; 车辆模型的共振频率增益降低了40 dB, 悬挂减振性能得到明显改善; 整个仿真过程回收能量为29.5 J, 系统达到了能量平衡。Abstract: In order to ensure the stability of lateral self-powered active suspension system with parametric uncertainty for railway vehicle, a robust H∞ controller design approach was proposed based on linear quadratic regulator with cross-product terms. A robust H∞ controller was designed for suspension system model with perturbation. The energy balance condition of self-powered active suspension system with perturbation was analyzed, and the control system was simulated by using MATLAB/SIMULINK. Simulation result indicates that the structure singular peak value of closed-loop system with parametric uncertainty is 0.867 5, and the controller makes self-powered active suspension system stable. The resonant frequency gain of vehicle model reduces by 40 dB, and the vibration isolation performance suspension is improved obviously. The recycled energy in the whole simulation process is 29.5 J, and the energy balance of the system is achieved.
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Key words:
- vehicle engineering /
- active suspension /
- robust H∞ control /
- energy balance /
- perturbation
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