Abstract: According to the two-dimensional structure of Macpherson active suspension, the dynamical equations of active suspension considering Macpherson type was established by Lagrange formula with dissipative energy. The dynamical equations were further linearized at its equilibrium position and converted into the state equation form. According to the uncertainty of the sprung mass, the LPV model of the Macpherson suspension was established and then a state feedback robust H∞ controllerwas designed with regional poles assignment method and LMI technique. The proposed controller was simulated in Matlab/Simulink. The simulation results show that vehicle with Macpherson active suspension using a state feedback robust H∞ controller on regional poles assignment has great improvement in ride comfort and suspension stability, and its performance obviously outperforms the corresponding passive Macpherson suspension with the same parameters.

Key words: vehicle engineering, MacPherson active suspension, H∞ controller, LPV model, poles assignment method, LMI

摘要： 根据麦弗逊式主动悬架的二维结构，应用含耗散能的拉格朗日公式建立其动力学方程，在平衡位置对运动方程进行线性化，并整理成状态方程形式。针对簧载质量的不确定性，建立了麦弗逊式主动悬架的LPV模型，运用LMI技术并采用区域极点配置法设计了状态反馈鲁棒H∞控制器，并在Matlab/Simulink中进行仿真。研究结果表明：麦弗逊式主动悬架采用极点配置状态反馈鲁棒H∞控制器可以明显改善行驶平顺性和悬架稳定性，其性能明显优于同参数的被动麦弗逊式悬架。

关键词: 车辆工程, 麦弗逊式主动悬架, H∞控制器, LPV模型, 极点配置法, LMI