【摘要】 基于线性矩阵不等式方法,提出了一种新的考虑参数不确定性的鲁棒H2/H∞控制器设计方法,并用于车辆主动悬架设计.假定系统不确定参数是范数有界的,通过引入同一个Lyapunov矩阵来同时满足闭环系统的H2和H∞性能条件,把鲁棒H2/H∞控制器设计转化为具有线性矩阵不等式约束的凸优化问题,进而应用内点法等凸优化技术进行求解.以四分之一车辆模型主动悬架设计为例,进行了数值仿真.结果表明,无论车辆簧上质量是否存在变异,鲁棒H2/H∞控制器均能给出很好的控制效果.更多还原

【Abstract】 Based on the linear matrix inequality method,a new approach to the design of robust H2/H∞ controllers for linear systems with parameter uncertainties was proposed.The parameter uncertainties considered were assumed to be norm-bounded.By introducing a Lyapunov matrix to meet the H2 and H∞ performance constraints simultaneously for the resulting closed-loop system,the robust H2/H∞ controller design was transformed into a convex optimal problem with constraints of linear matrix inequalities,to which the existing convex optimization techniques such as the interior-point algorithm can be applied.To show the effect of the proposed robust H2/H∞ controller,the dynamic responses of a quarter car model with an active suspension subjected to road surface irregular excitations,either as a stationary random process or as a discrete time-history,were investigated.Numerical results show that whether the variation of the vehicle mass exists or not,the proposed robust H2/H∞ controller behaves very satisfactorily.更多还原