整车并联主动悬架变载荷多综合PID控制
Mu-synthesis PID Control of Full-Car with Parallel Active Link Suspension Under Variable Payload
摘要：
本文提出了一种组合μ综合PID控制方案，采用频率分离范例，最近提出的新型主动悬架，并联主动悬架（PALS）。所开发的mu合成控制方案优于传统的H ∞控制，以前设计的PALS，在乘坐舒适性和道路保持（高频动态），重要的现实不确定性，如在车辆有效载荷，考虑到。所开发的PID控制方法适用于保证良好的底盘姿态控制能力和最小化的俯仰和滚动运动（低频动态）。一个多目标的控制方法，它合并了上述PID和μ综合为基础的控制，进一步介绍，同时实现低频缓解姿态运动和高频振动抑制的车辆。一个七自由度的运动型多用途车（SUV）的全车模型与PALS，在这项工作中，测试合成控制器的非线性仿真与不同的ISO定义的道路事件和可变的车辆有效载荷。结果表明，该控制方案的显着的鲁棒性和性能，相比，传统的被动悬架以及主动控制PALS由传统的H ∞控制，实现了广泛的车辆有效载荷的调查中考虑。
英文摘要：
This paper presents a combined mu-synthesis PID control scheme, employing a frequency separation paradigm, for a recently proposed novel active suspension, the Parallel Active Link Suspension (PALS). The developed mu-synthesis control scheme is superior to the conventional H-infinity control, previously designed for the PALS, in terms of ride comfort and road holding (higher frequency dynamics), with important realistic uncertainties, such as in vehicle payload, taken into account. The developed PID control method is applied to guarantee good chassis attitude control capabilities and minimization of pitch and roll motions (low frequency dynamics). A multi-objective control method, which merges the aforementioned PID and mu-synthesis-based controls is further introduced to achieve simultaneously the low frequency mitigation of attitude motions and the high frequency vibration suppression of the vehicle. A seven-degree-of-freedom Sport Utility Vehicle (SUV) full car model with PALS, is employed in this work to test the synthesized controller by nonlinear simulations with different ISO-defined road events and variable vehicle payload. The results demonstrate the control scheme's significant robustness and performance, as compared to the conventional passive suspension as well as the actively controlled PALS by conventional H-infinity control, achieved for a wide range of vehicle payload considered in the investigation.
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