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首页> 外文会议>Mechatronics, 2009. ICM 2009 >State-space modelling and decoupling control of electromagnetic actuators for car vibration excitation
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State-space modelling and decoupling control of electromagnetic actuators for car vibration excitation

机译：汽车振动激励电磁致动器的状态空间建模和解耦控制

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摘要

Unstable electromagnetic actuators are employed for car vibration excitation to perform Squeak and Rattle analyses. Couplings in the dual-shaker system demand for multiple input multiple output (MIMO) control. Unlike most approaches in literature that depend on cumbersome measurements and MIMO system identifications, control design in the present contribution is based on an analytical model. A state-space description of the entire plant with actuators and car is composed, whereof six states refer to the car body and are estimated by a reduced observer. A comparison with measurements verifies the modelling assumptions. Then a multivariable feedback controller is deduced. One main control design goal is an input-output-decoupling of the closed-loop system. To additionally rise bandwidth and adapt the state-space controller for reference tracking purposes, it is enhanced by a tracking error estimator. Fundamental controller criteria are robust stabilization of the unstable actuators and bandwidth and tracking attributes that match the road profiles to be reproduced. The MIMO controller shows convincing performance in all these aspects. The controlled system remains stable even for signals with high energy content and strong car movements due to the incorporated car body states. With the aid of the analytical plant model, controller and observer calculations for prospective use of four shakers on different car types can be carried out easily and without additional measurements.
机译：不稳定的电磁执行器用于汽车振动激励，以执行Squeak和Rattle分析。双摇床系统中的联轴器需要多输入多输出（MIMO）控制。与文献中依赖于繁琐的测量和MIMO系统标识的大多数方法不同，本文档中的控制设计基于分析模型。组成了带有致动器和汽车的整个工厂的状态空间描述，其中六个状态是指车身，并由精简的观察员估计。与测量值的比较可验证建模假设。然后推导多变量反馈控制器。一个主要的控制设计目标是闭环系统的输入-输出-去耦。为了额外增加带宽并使状态空间控制器适应参考跟踪目的，跟踪误差估计器对其进行了增强。基本的控制器标准是不稳定执行器的稳健稳定性，与要复制的道路轮廓相匹配的带宽和跟踪属性。 MIMO控制器在所有这些方面均显示出令人信服的性能。由于内置的​​车身状态，即使对于具有高能量含量和剧烈运动的信号，受控系统也保持稳定。借助分析型工厂模型，可以轻松进行控制器和观察者计算，从而在不同车型上预期使用四个振动筛，而无需进行额外的测量。

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