分布式直驱电动汽车主动悬架系统设计及鲁棒控制研究

Suspension is an important part for ground electric vehicle. Based on the dynamic characteristics of the distributed in-wheel driven vehicle, an novel active suspension system and its control strategy is given to improve the ride comfort, handling stability, and system reliability. Firstly, the dynamics of in-wheel motor is analyzed. Based on the principle of Dynamic Vibration Absorber (DVA), a novel active suspension system is presented by transferring part of the unsprung mass. Then, the corresponding robust control strategy for the system with uncertain parameters, actuator faults and finite frequency constraints is discussed. The type and bund of the system uncertainties and actuator faults are analyzed. By using Lemma of the generalized Kalman-Yakubovic-Popov (KYP), the finite frequency constraints can be applied in the control model in terms of Linear Matrix Inequality (LMI), and the robust control strategy can be established. To enhance the ability of the proposed method, output feedback control is employed in the controller design. Finally, the control system will be validated by both of mathematical simulation and hardware-in-loop test, and be tested in real vehicles for further experiment. The study is of critical important for distributed in-wheel driven vehicle.

根据分布式直驱电动汽车的动力学特点，研究一种主动悬架系统及其鲁棒控制策略，提高汽车平顺性、操纵稳定性以及系统可靠性。利用动力吸振的基本原理，建立一种含动力吸振器的主动悬架模型，并分析其参数不确定性、执行器故障对主动悬架性能的影响；考虑人体对垂向振动特定频带的敏感性，通过广义KYP引理，建立含有限频带约束的主动悬架鲁棒控制模型；利用整车模型对车辆垂向、俯仰及侧倾三个方向进行综合控制，并建立悬架多目标（平顺性、操纵稳定性及系统可靠性）控制模型；利用输出反馈理论解决系统变量的观测问题，降低系统成本，提高上述控制算法的实用性；最后，通过硬件在环和实车试验，验证主动悬架鲁棒控制效果，综合提高分布式直驱电动汽车平顺性、稳定性以及可靠性。

针对分布式直驱电动汽车的动力学特点，本项目研究了一种主动悬架系统及其鲁棒控制策略，可有效提高汽车平顺性、操纵稳定性以及系统可靠性。首先利用动力吸振的基本原理，建立了一种含动力吸振器的主动悬架模型，并分析了参数不确定性、执行器故障对主动悬架性能的影响；考虑人体对垂向振动特定频带的敏感性，通过广义KYP引理，建立了含有限频带约束的主动悬架鲁棒控制模型；利用整车模型对车辆垂向、俯仰及侧倾三个方向进行综合控制，并建立了悬架多目标（平顺性、操纵稳定性及系统可靠性）控制模型；最后利用输出反馈理论解决系统变量的观测问题，降低系统成本，提高了上述控制算法的实用性。项目共资助发表SCI论文5篇，EI论文2篇，授权发明专利1项，申报发明专利1项；资助培养博士生1名，硕士生5名。