Analise de suspensões veiculares utilizando tecnicas de controle robusto

AUTOR(ES)
DATA DE PUBLICAÇÃO

1998

RESUMO

This thesis presents an analysis of the H IND. 2 e H IND. INFINITO robust control theory via linear matrix inequalities, and an approach by Youla parametrization of the closed loop transfer matrix, applied to the design of three different vehicular suspension models. The focus is on comparative analyses of the techniques employed rather than on a specific practical implementation. The classical H IND. 2 e H IND. INFINITO optimal control problem through full state feedback, obtained from the solution of a Riccati type equation, can be turned into similar convex problems, which can be solved by a set of linear matrix inequalities. This procedure permits to take into account parametric uncertainties in the system, analyzing the uncertainty space by computing only the vertices of a polyhedral convex bounded domain. An optimal control technique via Youla parametrization is aIso analyzed. This approach can be viewed as a benchmark for other techniques. ln the specific problem here solved, uncertainties are not taken into account, but this could be done. This technique is only applied to a quarter-car model, the simplest one. The dynamic models of the vehicular suspension are built by using Newton-Euler s law. Some assumptions have been adopted, such as ideal dampers, spring stiffness, and band width actuators, and rigid body motion. The first suspension modeI is unidimensional, with two degrees of freedom - one for the body mass mode, and another for the axle mass mode. The second modeI is twodimensional, permitting to analyze the pitch mode. The last one, treedimensional, permits to investigate all the rigid body modes. Numerical results are carried out for the three models, within the whole span of uncertainties. The comparative analyses are based on the trade-off between the control force, the suspension stroke, and the road-holding ability

ASSUNTO(S)

dominios convexos veiculos - dinamica teoria do controle sistemas de controle por realimentação

ACESSO AO ARTIGO

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