LQ and H∞ Preview Control for a Durability Simulator
نویسندگان
چکیده
The tracking control of a suspension durability test simulator is investigated in this paper. The objective is to control a hydraulically actuated durability simulator, so that vehicle responses, previously measured on the test track, can be reproduced in the laboratory. A two-degree-of-freedom (2DOF) H∞ control design procedure is proposed to improve tracking performance in the face of noise and disturbances. The 2DOF formulation consists of a feedback and feedforward term, which is directly extended to include preview control. Nomenclature b feedback control signal cs suspension damping ct tire damping e error between desired and achieved response f feedforward control signal F feedforward controller G nominal plant model K feedback controller ks suspension stiffness kt tire stiffness S Sensitivity function T Complimentary Sensitivity function ms sprung mass mu unsprung mass n measurement noise xact actuator displacement xu unspung mass xs sprung mass yd desired response of the plant y achieved response of the plant Wb weighting on the control signal Wd weighting on the disturbance We weighting on the error Wn weighting on the noise signal
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