中文摘要：

针对预瞄控制中存在的输入时滞现象,提出一种时滞相关的有限频域线性变参数控制器设计方法,用于解决存在输入时滞及时变速度的汽车主动悬架预瞄控制问题。在控制器设计中,应用Padé方法将控制方程扩维为含路面预瞄信息的状态空间形式。用有限顶点的多胞形结构处理速度的时变性。以线性不等式的形式给出了控制器设计准则。区别于传统的全频域时滞相关的H∞控制,以车身加速度的有限频域H∞范数为优化性能指标,使其在关心频段内取得最小的能量增益值,同时保证相关的时域约束条件。通过数值算例及试验表明,在存在输入时滞的情况下,该方法能取得比无预瞄控制保守性更小的结果,舒适性得到了显著的提高。

英文摘要：

It is a common phenomenon that time delay frequently happens in preview control systems, so a delay-dependent finite frequency linear parameter-dependent（LPV） controller design approach to solve the problem of preview control for vehicle active suspension systems with input delay and time-varying velocity is proposed. In the controller design, the Padé approach is used to approximate the preview information so as to rewrite it in state-space form. The time-varying velocity is described by a polytope with finite vertices. The existence of admissible controllers is derived in terms of linear matrix inequalities（LMIs）. Meantime, different from the existing entire frequency H∞ control methods, as the human’s organ is sensitive to the vibration within 4-8 Hz, the H∞ norm of the car body acceleration is used as the performance optimization index to make it acquire the optimum energy gain attenuation within the concerned frequency band, and the time-domain constraint conditions are also guaranteed. Simulation and experimental results have shown that the proposed controller design approach can yield much less conservative results even actuator delay occur, the proposed approach can achieve better ride comfort when compared with previous approaches.