中文摘要：

提出了一种考虑路面预瞄信息的有限频域线性变参数控制器设计方法,并将其应用于时变速度下的车辆悬架多目标控制。在控制器设计中,首先,利用Padé近似的方法处理一定距离内的路面预瞄信息,将车辆悬架系统增广为含速度信息的状态空间方程。其次,采用多胞形结构描述车辆前进速度的时变性。考虑到人体对4~8 Hz范围内的振动加速度较为敏感,且路面干扰仅发生在有限频段内,传统的全频域H∞控制方法并不能取得最优性能。以车身垂直加速度的有限频域H∞范数为优化性能指标,使其在路面干扰下的能量增益在关心频段内达到最小,同时考虑相关的时域约束条件。最后,通过数值实例验证了所提方法的有效性,对比于传统的全频域方法及无路面预瞄的控制方法,该方法能在时域约束条件得到满足的同时,有效地提高车辆的舒适性。

英文摘要：

A finite frequency linear parameter-varying（ LPV） controller design approach with look-ahead preview measurements was presented,and the proposed approach was applied to a multi-objective control problem of vehicle active suspension systems with time-varying velocity. Firstly,the Padé approximant method was used to deal with the preview information,so as to get the augmented system of active suspension with velocity information in the form of state-space equation. Secondly,the time-varying velocity was described by a polytope with finite vertices. As human body is fairly sensitive to the car body vertical acceleration within 4 ~ 8 Hz,and road disturbance happens only within the finite frequency domain range,the traditional H∞method over the infinite frequency range can not result in the optimum control plan obviously. The H∞norm of the car body acceleration was used as the performance optimization index to make it acquire the optimum energy gain attenuation within the concerned frequency band. In addition,the time-domain constraint conditions were guaranteed as well. The controller,whose gain matrix depended on the measurement information of the velocity,was designed in the form of linear matrix inequality（ LMI）. Finally,a numerical example was used to verify the reliability of the method,simulation results illustrated the usefulness and advantages of the proposed method and the designed controller can achieve better comfort than the traditional entire frequency-domain control approach and ensure that hard constraints are satisfied.