A Design Synthesis Method for Robust Controllers of Active Vehicle Suspensions

摘要

This paper presents a design synthesis method for robust controllers of active vehiclesuspensions (AVSs). Various control techniques have been applied to the design of AVSs for enhancingride comfort and handling performance of ground vehicles. However, most of these model-basedcontroller designs show poor robustness when the vehicle models are not accurate and operatingconditions vary. To address the poor robustness problem of AVSs, a new controller is designed usingthe H∞ loop-shaping control technique. The controller targets robustness issues on vehicle modelswith parametric uncertainties and unmodelled dynamics. To facilitate the robust controller design, adesign synthesis method is proposed: the H∞ loop-shaping controller design is formulated as a multiobjective optimization problem, the weighting functions’ parameters of the controller are treatedas design variables, the expensive computing loads are handled by a parallel computing technique,and the solution of the optimization problem is the desired robust AVS controller. Simulation resultsdemonstrate the benefits of the proposed AVS design.