基于H∞状态反馈的商用车准零刚度空气悬架系统半主动控制

doi:10.3901/JME.2023.12.306

机械工程学报 ›› 2023, Vol. 59 ›› Issue (12): 306-317.doi: 10.3901/JME.2023.12.306

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基于H_∞状态反馈的商用车准零刚度空气悬架系统半主动控制

徐兴, 陈雷, 江昕炜, 梁聪, 王峰

江苏大学汽车工程研究院镇江 212013

收稿日期:2022-08-03 修回日期:2023-03-22 出版日期:2023-06-20 发布日期:2023-08-15
通讯作者: 王峰(通信作者),男,1986年出生,博士,副教授,硕士研究生导师。主要研究方向为复杂机电耦合传动系统分析控制.E-mail:bewater@ujs.edu.cn
作者简介:徐兴,男,1979年出生,博士,教授,博士研究生导师。主要研究方向为动力学系统建模、辨识、优化、故障诊断及控制。E-mail:xuxing@ujs.edu.cn
基金资助:
国家自然科学基金资助项目(51875256)。

Semi-active Control of Quasi-zero Stiffness Air Suspension System for Commercial Vehicles Based on H_∞ State Feedback

XU Xing, CHEN Lei, JIANG Xinwei, LIANG Cong, WANG Feng

Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013

Received:2022-08-03 Revised:2023-03-22 Online:2023-06-20 Published:2023-08-15

摘要/Abstract

摘要： 为进一步提升复杂行驶工况下配备空气悬架商用车的综合隔振性能，提出一种基于准零刚度空气悬架新构型的阻尼控制方法。首先，结合气体热力学、悬架动力学理论建立准零刚度空气悬架系统非线性模型，将悬架非线性恢复力表达式通过Taylor级数展开，把1/4车辆准零刚度空气悬架半主动控制模型归纳为考虑刚度参数不确定的线性系统。其次，引入Lyapunov稳定性理论，构建考虑悬架簧载质量加速度、动行程及轮胎动载荷的多目标性能输出指标并考虑受限约束，采用线性分式变换设计H_∞状态反馈控制策略，同时设计基于车身高度传感器为输入的Luenberger状态观测器，并将控制律设计问题转化为线性矩阵不等式的凸优化问题。最后，仿真和硬件在环实验结果表明，所提出的准零刚度空气悬架结构及半主动控制方法行之有效，能在不牺牲悬架动行程和少牺牲轮胎动载荷的前提下大幅降低簧载质量加速度，提升商用车悬架多目标综合性能。

关键词: 准零刚度, 半主动悬架, H_∞控制, 参数不确定性, 隔振

Abstract: To further improve the comprehensive vibration isolation performance of commercial vehicles equipped with air suspension under complex driving conditions, a damping control method based on a new configuration of quasi-zero stiffness air suspension is proposed. Firstly, a nonlinear model of quasi-zero stiffness air suspension system is established by combining gas thermodynamics and suspension dynamics theories, and the nonlinear restoring force expression of the suspension is expanded by Taylor series, and the semi-active control model of quasi-zero stiffness air suspension for 1/4 vehicle is reduced to a linear system considering the uncertainty of stiffness parameter. Secondly, Lyapunov stability theory is introduced to construct a multi-objective performance output index considering the acceleration of suspension sprung mass, suspension working space and tire dynamic load with constrained constraints, and the H_∞ state feedback control strategy is designed by using linear fractional transformation, meanwhile, the Luenberger state observer based on the body height sensor is designed as the input, and the control law design problem is transformed into a convex optimization problem of linear matrix inequalities. Finally, the Hardware-in-the-loop tests show that the effectiveness of the proposed semi-active control method and structure of the quasi-zero stiffness air suspension, and can significantly lower the sprung mass acceleration with not sacrificing the suspension working space and less sacrificing the dynamic tire load, which will improve the multi-objective comprehensive performance of commercial vehicles’ suspension.

Key words: quasi-zero stiffness, semi-active suspension, H_∞ control, parameter uncertainty, vibration isolation

中图分类号:

U463

徐兴, 陈雷, 江昕炜, 梁聪, 王峰. 基于H_∞状态反馈的商用车准零刚度空气悬架系统半主动控制[J]. 机械工程学报, 2023, 59(12): 306-317.

XU Xing, CHEN Lei, JIANG Xinwei, LIANG Cong, WANG Feng. Semi-active Control of Quasi-zero Stiffness Air Suspension System for Commercial Vehicles Based on H_∞ State Feedback[J]. Journal of Mechanical Engineering, 2023, 59(12): 306-317.

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基于H_∞状态反馈的商用车准零刚度空气悬架系统半主动控制

Semi-active Control of Quasi-zero Stiffness Air Suspension System for Commercial Vehicles Based on H_∞ State Feedback

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基于H∞状态反馈的商用车准零刚度空气悬架系统半主动控制

Semi-active Control of Quasi-zero Stiffness Air Suspension System for Commercial Vehicles Based on H∞ State Feedback

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基于H_∞状态反馈的商用车准零刚度空气悬架系统半主动控制

Semi-active Control of Quasi-zero Stiffness Air Suspension System for Commercial Vehicles Based on H_∞ State Feedback