车辆座椅悬架系统的建模与H<sub>∞</sub>鲁棒控制研究

车辆座椅悬架系统的建模与H_∞鲁棒控制研究

摘要: 建立了四自由度的“车—椅—人”悬架系统动力学和数学模型．运用H_∞鲁棒控制理论为车辆座椅悬架系统设计了鲁棒控制器，并且借助Matlab软件对鲁棒控制器和最优控制器的控制性能进行了仿真分析．仿真结果表明：与最优控制器相比所设计的鲁棒控制器能更好地抑制座椅悬架系统的垂直振动加速度，在共振频率附近其减振幅度能达到50%~60%，大大提高了乘坐舒适性，并且该系统能够承受一定的模型参数不确定性，具有良好的鲁棒稳定性．

Abstract: The dynamic and mathematical models of the vehicle-seat-people suspension system with 4 degrees of freedom are built.Based on H_∞ robust control theory,an H_∞ controller is developed for this vehicle seat suspension system,and simulations are made with Matlab to compare and analyze the performance of H_∞ controller and the optimal controller designed for the vehicle seat system.Simulation results show that the vehicle seat suspension system with robust controller can reduce the vertical vibration acceleration of the seat by 50%~60% around the resonant frequency,and can effectively improve the comfort degree of driver compared with the optimal controller.It is also pointed out that the designed H_∞ controller is effective in system stability and robustness against some parameter fluctuations.