High performance active suspension has significant advantages in improving driving experi-ence,and robust control algorithm is an important guarantee for active suspension performance.To solve the prob-lem that the typical robust control algorithms are difficult to achieve effective disturbance estimation and compensa-tion,in this paper,a H2/H∞-H2-IUDE algorithm is proposed to estimate and compensate the disturbance by using IUDE algorithm and introducing in H2 state observer,which improves the robustness compared with H2/H∞ algo-rithm.Firstly,the model of half vehicle active suspension control systems is established,and the disturbance form is defined.Then,an IUDE algorithm for disturbance estimation and compensation decoupling is proposed,and a H2 state observer is proposed to redesign H2/H∞ algorithm.Finally,simulation analysis is carried out for typical working conditions such as random road surface and speed bump road surface.The results show that,compared to the H2/H∞algorithm,the proposed algorithm reduces the root mean square values of the vehicle body center vertical accelera-tion and pitch angle by 7.6%and 5.9%,respectively,under random road conditions,demonstrating a significant improvement in vehicle ride comfort.Meanwhile,the proposed H2 observer can effectively estimate system states.The IUDE algorithm can accurately estimate disturbance,and can avoid the deterioration of suspension dynamic de-flection caused by the non-decouple UDE method,which has outstanding characteristics of excellent disturbance es-timation and flexible compensation.
关键词
主动悬架/不确定性与扰动观测器/H2观测器/H2/H∞控制/改进的UDE算法
Key words
active suspension systems/uncertainty and disturbance estimator/H2 observer/H2/H∞control/IUDE algorithm
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