Research on the Control of Nonlinear System Using the Singular Perturbation Method -Application to the Active Suspension Control-

奇异摄动法非线性系统控制研究-在主动悬架控制中的应用-

• 批准号: 06650281
• 负责人: SUZUKI Masayuki
• 金额: $ 0.9万
• 依托单位: NAGOYA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1994
• 资助国家: 日本
• 起止时间: 1994 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-06650281/
• 关键词: Singular Perturbation Method; Nonlinear System; Feedback Linearization; Active Suspension

This research has been carried out as following :(1) Modeling of the active suspension with nonlinear elements,(2) Design of the control law for the active suspension system using the singular perturbation method and feedback linearization,(3) Simulation of the active suspension system,(4) Discussion of the control effects of the examination by an actual car and(5) Comparison of the proposed control law and the H_* control law through the experiment.The control design of the active suspension is simplified by using the singular perturbation method because the full system is decomposed into two low order subsystems (slow and fast subsystems) that are related to the ride quality and the road holding property respectively. In general it is very difficult to linearize the active suspension system, but each subsystem can be linearized easily by the proposed control design method. So we can apply the linear control design method to improvement the both properties.Also we can design the two properties separately by the singular perturbation method. Therefor the total control design also become easier.

本研究的内容如下：（1）对具有非线性元件的主动悬架进行建模，（2）利用奇异摄动法和反馈线性化设计主动悬架系统的控制律，（3）对主动悬架系统进行仿真，（4）通过实车试验对控制效果进行了讨论;（5）通过试验对所提出的控制律和H_* 控制律进行了比较。由于将整个系统分解为两个低阶子系统，采用奇异摄动法简化了主动悬架的控制设计（慢子系统和快子系统），其分别与行驶质量和道路保持特性相关。一般来说，主动悬架系统的线性化是非常困难的，但每个子系统可以很容易地线性化所提出的控制设计方法。因此，我们可以利用线性控制器的设计方法来改善这两种特性，也可以利用奇异摄动法分别对这两种特性进行设计。从而使总控设计变得容易。

项目成果

Yoshinori Ando: "Control of Active Suspension Systems using the Singular Perturbation Method" Control Engineering Practice. 4. (1996)

安藤义德：“使用奇异扰动方法控制主动悬架系统”控制工程实践。

Y.Ando, M.Suzuki: "Control of active suspensions using the singular perturbation method" Control Engineering Practice. issu 4. (1996)

Y.Ando、M.Suzuki：“使用奇异摄动方法控制主动悬架”控制工程实践。

Yoshinori Ando: "Control of Active Suspension Systems using the Singular Perturbation Method" Control Engineering Practice. (1996)

安藤义德：“使用奇异扰动方法控制主动悬架系统”控制工程实践。

Y.ANDO, M.SUZUKI: "Control of Active Suspension by Singular Perturbation Method and Linearization Technique" Proceedings of 1994 Hong Kong International Workshop on New Directions of Control and Manufacturing. 49-54 (1994)

Y.ANDO、M.SUZUKI：“通过奇异扰动方法和线性化技术控制主动悬架”1994 年香港国际控制与制造方向国际研讨会论文集。