基于控制律重组的汽车半主动悬架容错控制与试验  

Fault-tolerant Control and Experiment on Vehicle Semi-active Suspension System Based on Control Law Reconfiguration

作　　者：杨柳青[1,2] 陈无畏[2] 张荣芸[2] 黄鹤[2] 

机构地区：[1]安徽交通职业技术学院汽车与机械工程系,合肥230051 [2]合肥工业大学机械与汽车工程学院,合肥230009

出　　处：《农业机械学报》2013年第10期1-9,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51075112);安徽省高等学校省级自然科学研究资助项目(KJ2012B050;KJ2013B069)

摘　　要：基于控制律重组思想提出了一种汽车半主动悬架主动容错控制方法。建立了2自由度1／4车半主动悬架和故障悬架模型。通过设计鲁棒观测器，获得输出残差信息，实现半主动悬架故障检测和悬架作动器故障增益在线诊断。在LQG控制器和在线诊断基础上，基于控制律重组调整LQG控制律设计容错控制器，实现故障悬架主动容错控制。Matlab／Simulink仿真及台架试验结果表明，基于控制律重组的主动容错控制能使汽车故障悬架舒适性指标经0．5—2．0s滞后迅速恢复至与无故障状态时半主动悬架性能相接近水平，消除了作动器故障影响，提高了悬架控制可靠性。An active fault-tolerant control strategy based on control law reconfiguration was put forward for vehicle semi-active suspension system. A 2-DOF quarter vehicle semi-active suspension system model and fault suspension model were built. Semi-active suspension fault detection and on-line diagnosis of suspension actuator＇ s fault gain were realized by output residual error obtained from designing robust observer. Then, on the basis of LQG controller and on-line diagnosis, active fault-tolerant control was realized on fault suspension through adjusting LQG control law to design fault-tolerant controller based on control law reconfiguration. The results of simulation under Matlab/Simulink and bench experiment showed that active fault-tolerant control strategy based on control law reconfiguration could rapidly restore the comfort performance of fault suspension system to the level close to that of semi-active suspension in the absence of fault after 0. 5 to 2.0 s delay, eliminate the effects caused by actuator fault, and increase the reliability of suspension control.

关 键 词：汽车 半主动悬架 作动器故障 主动容错 控制律重组 试验与仿真 

分 类 号：U463[机械工程—车辆工程]