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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。
In order to ensure the stability of a class of transverse energy feedback active suspension system with uncertain parameters, a robust H∞ controller design method is proposed by introducing quadratic regulator with cross product term. The robust H∞ controller design for the perturbed suspension system model is also presented. The energy balance condition of energy feedback active suspension system with parameter perturbation is analyzed and the control system is simulated under MATLAB / SIMULINK. Simulation results show that the peak value of the singular value of the uncertain closed-loop system is 0.867 5, the robust H∞ controller makes the energy feedback active suspension system robust and stable, the resonant frequency gain of the vehicle model is reduced by 40 dB, and the suspension damping performance is obtained Significant improvement; the entire simulation process to recover energy is 29.5 J, the system reached the energy balance.