Robust Active Suspension Design Subject to Vehicle Inertial Parameter Variations

作     者：Hai-Ping Du Nong Zhang 

作者机构：School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong NSW 2522 Australia Mechatronics and Intelligent Systems Faculty of Engineering University of Technology Broadway NSW 2007 Australia 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2010年第7卷第4期

页      面：419-427页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 0823[工学-交通运输工程] 

基　　金：supported by the Australian Research Council(No.ARC LP0560077)and the University of Technology Sydney Australia 

主　　题：Active suspension half-car suspension model parameter-dependent control linear matrix inequalities (LMIs) 

摘      要：This paper presents an approach in designing a robust controller for vehicle suspensions considering changes in vehicle inertial properties. A four-degree-of-freedom half-car model with active suspension is studied in this paper, and three main performance requirements are considered. Among these requirements, the ride comfort performance is optimized by minimizing the Ho~ norm of the transfer function from the road disturbance to the sprung mass acceleration, while the road holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H2 （GH2） norms of the transfer functions from the road disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH2 norm as well. By solving the finite number of linear matrix inequalities （LMIs） with the minimization optimization procedure, the controller gains, which are dependent on the time-varying inertial parameters, can be obtained. Numerical simulations on both frequency and bump responses show that the designed parameter-dependent controller can achieve better active suspension performance compared with the passive suspension in spite of the variations of inertial parameters.