标题： 变载荷下带平行主动链接悬架的全车μ综合PID控制 显示英文标题

标题： Mu-synthesis PID Control of Full-Car with Parallel Active Link Suspension Under Variable Payload

摘要： 本文提出了一种结合μ综合法的PID控制方案，采用频率分离范式，用于最近提出的新型主动悬架——平行主动连杆悬架（PALS）。 所开发的μ综合控制方案在乘坐舒适性和路面保持性能（高频动态特性）方面优于先前为PALS设计的传统H∞控制，并且考虑了车辆载荷等重要的现实不确定性。 所开发的PID控制方法被应用于确保良好的底盘姿态控制能力，并最小化俯仰和侧倾运动（低频动态特性）。 进一步引入了一种多目标控制方法，该方法融合了上述基于PID和μ综合的控制方法，以同时实现姿态运动的低频缓解和车辆高频振动抑制。 本研究使用了一个具有PALS的七自由度运动学SUV整车模型，通过不同ISO定义的路面事件和可变车辆载荷的非线性仿真测试合成控制器。 结果表明，与传统的被动悬架以及通过常规H∞控制实现的主动控制PALS相比，该控制方案在广泛的车辆载荷范围内表现出显著的鲁棒性和性能。 显示英文摘要

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.