基于作动器故障的整车主动悬架容错控制  

Fault Tolerant Control Research on Full Vehicle Active Suspension System Based on Actuator fault

作　　者：杨柳青[1,2] 

机构地区：[1]安徽交通职业技术学院,安徽合肥230051 [2]合肥工业大学,安徽合肥230009

出　　处：《贵州大学学报（自然科学版）》2014年第2期112-118,共7页Journal of Guizhou University:Natural Sciences

基　　金：国家自然科学基金项目资助(51075112;51305117;51178158);安徽省高等学校省级自然科学研究项目资助(KJ2012B050)

摘　　要：针对7自由度整车模型中主动悬架作动器增益变化故障,基于控制律重组提出一种主动容错控制方法。建立主动悬架7自由度整车模型和故障悬架模型。设计鲁棒观测器,获得输出残差,实现主动悬架故障检测和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 s时滞逐渐恢复至与无故障主动悬架性能相接近水平,消除作动器故障影响,提高整车悬架控制可靠性。An active fault-tolerant control strategy based on control law reconfiguration was put forward for sevendegree-of-freedom vehicle model with active suspension system. A seven-degree-of-freedom vehicle model with active suspension system was built,and so was the fault suspension model. 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 show that active fault-tolerant control strategy based on control law reconfiguration can rapidly restore the comfort performance of fault suspension system to the level close to that of active suspension in the absence of fault after 0. 5 to 2 seconds delay,eliminate the effects caused by actuator fault,and increase the reliability of full vehicle suspension control.

关 键 词：汽车主动悬架 作动器故障 整车模型 主动容错控制 仿真分析 

分 类 号：U463[机械工程—车辆工程]