考虑响应时滞的磁流变半主动悬架H∞控制与试验研究

doi:10.3901/JME.2024.18.276

机械工程学报 ›› 2024, Vol. 60 ›› Issue (18): 276-287.doi: 10.3901/JME.2024.18.276

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考虑响应时滞的磁流变半主动悬架H_∞控制与试验研究

叶青^1,2, 姜笑¹, 张垚³, 汪若尘¹, 丁仁凯¹, 蔡英凤¹

1. 江苏大学汽车工程研究院镇江 213300;
2. 常州江苏大学工程技术研究院常州 213000;
3. 江苏大学电气信息工程学院镇江 213300

收稿日期:2023-10-18 修回日期:2024-06-20 出版日期:2024-09-20 发布日期:2024-11-15
作者简介:叶青,男,1990年出生,博士,讲师。主要研究方向为智能汽车运动控制及悬架控制。E-mail:yeqing0610@63.com
基金资助:
国家自然科学基金(52102459,52225212)、江苏省自然科学基金(BK20200909)和常州市应用基础研究计划(CJ20220184)资助项目。

H_∞ Control and Experimental Study of Magnetorheological Semi-active Suspension with Actuator Response Delay

YE Qing^1,2, JIANG Xiao¹, ZHANG Yao³, WANG Ruochen¹, DING Renkai¹, CAI Yingfeng¹

1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 213300;
2. Engineering Technology Research Institute of Changzhou Jiangsu University, Changzhou 213000;
3. Electrical Information Engineering Institute, Jiangsu University, Zhenjiang 213300

Received:2023-10-18 Revised:2024-06-20 Online:2024-09-20 Published:2024-11-15

摘要/Abstract

摘要： 针对磁流变阻尼器响应时滞对半主动悬架控制系统低频振动控制的负面影响问题，提出一种考虑磁流变阻尼器响应时滞的时滞依赖H_∞鲁棒控制器。构建考虑响应时滞的磁流变半主动悬架模型，基于Lyapunov-Krasovskii函数分析时滞磁流变半主动悬架的时滞稳定性，并采用锥补线性化迭代求解系统保持稳定的临界时滞，在此基础上设计一种考虑磁流变阻尼器响应时滞的时滞依赖H_∞鲁棒控制器，降低了磁流变阻尼器的整体响应时滞并使其小于理论临界时滞，得到控制器反馈增益。最后进行仿真和试验对比研究，试验结果表明，凸块路面激励下，相较于时滞独立H_∞鲁棒控制器，时滞依赖H_∞鲁棒控制器对车身加速度和车轮动载荷的峰峰值响应分别降低了16.4%和7.4%，车轮接地性变化不大，试验和仿真结果有效验证了所设计控制方法的有效性和优越性，为后续磁流变半主动悬架研究提供了理论参考。

关键词: 磁流变半主动悬架, 响应时滞, 时滞依赖H_∞鲁棒控制器, 理论临界时滞, 对比性能试验

Abstract: A time-delay-dependent H_∞ robust controller considering the response delay of magnetorheological(MR) damper is proposed to solve the negative effect of MR damper response delay on the low frequency vibration control of semi-active suspension control system. The MR semi-active suspension model considering of response time-delay is built, and the time-delay stability of time-delay MR semi-active suspension is analyzed based on Lyapunov-Krasovskii function, the critical time delay for the system is solved by using the cone complementary linearization algorithm. Then a time-delay-dependent H_∞ robust controller considering the response delay of MR damper is designed, the overall response time delay of the MR damper is reduced to be less than the theoretical critical time delay, and the feedback gain of the controller is obtained. Finally, a comparative study of simulation and experiment is carried out, the results show that the time-delay-dependent H_∞ robust controller reduces the peak responses of vehicle body acceleration and wheel dynamic load by 16.4% and 7.4% respectively in compared with the time-delay independent H_∞ robust controller under the bump road excitation, and the wheel grounding performance changes little. Experiment and simulation results validate the effectiveness and superiority of the proposed control method, and provide a theoretical reference for the research of subsequent MR semi-active suspension.

Key words: magnetorheological semi-active suspension, response delay, time-delay-dependent H_∞ robust controller, theoretical critical delay, comparative performance test

中图分类号:

U461

叶青, 姜笑, 张垚, 汪若尘, 丁仁凯, 蔡英凤. 考虑响应时滞的磁流变半主动悬架H_∞控制与试验研究[J]. 机械工程学报, 2024, 60(18): 276-287.

YE Qing, JIANG Xiao, ZHANG Yao, WANG Ruochen, DING Renkai, CAI Yingfeng. H_∞ Control and Experimental Study of Magnetorheological Semi-active Suspension with Actuator Response Delay[J]. Journal of Mechanical Engineering, 2024, 60(18): 276-287.

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考虑响应时滞的磁流变半主动悬架H_∞控制与试验研究

H_∞ Control and Experimental Study of Magnetorheological Semi-active Suspension with Actuator Response Delay

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考虑响应时滞的磁流变半主动悬架H∞控制与试验研究

H∞ Control and Experimental Study of Magnetorheological Semi-active Suspension with Actuator Response Delay

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考虑响应时滞的磁流变半主动悬架H_∞控制与试验研究

H_∞ Control and Experimental Study of Magnetorheological Semi-active Suspension with Actuator Response Delay