| The vehicle suspension control problem can be formulated as a multi-objective control problem with large disturbance from road surface.The control objectives for the vehicle suspension include improving ride comfort,maintaining firm contact between wheels and the road,keeping suspension travel and actuator output within an allowable maximum.Moreover,these performance specifications are mutually restricted and contradictory.In this paper,the controlled outputs of the active suspension system are divided into per-formance output and constraint output.We consider to take H∞ norm of the closed loop system as the optimized objection,and capture the time-domain hard constraints by gen-eralized H2 norm directly to study H∞/generalized H2 control of the active suspension system.The quarter-car active suspension is taked as the plant in this paper.Moving horizon H∞/generalized H2 control scheme takes much time and requires a large amount of online calculation,which is not conducive to the application in the practical systems.Thus,an off-line optimized moving horizon H∞/generalized H2 control scheme for active suspen-sion system is presented.The control scheme not only greatly reduces the solution time of the controller and significantly decreases online computational burdens,but also manages the trade-off between required high performance and satisfying hard constraints,keeps hard constraints within bounds under the excitation of large road disturbance.Moreover,considering that states in the practical suspension system are in general not fully measur-able,we propose H∞/generalized H2 static output feedback control strategy,which uses part of suspension system states as the feedback.Simulation results and hardware-in-the-loop experiments results in deferent vehicle speeds are provided to verify the effectiveness and superiority of the the proposed control strategy in this paper. |
PDF Full Text Request