基于Kalman滤波和LQG控制的主动悬架系统容错控制研究  

Research on Fault Tolerant Control of Active Suspension System Based on Kalman Filtering and LQG Control Algorithm

作　　者：王玉蓉 张海龙[1] 王恩荣[1] Wang Yurong;Zhang Hailong;Wang Enrong(NARI School of Electrical and Automation Engineering,Nangjing Normal University,Nangjing 210023,China)

机构地区：[1]南京师范大学南瑞电气与自动化学院,江苏南京210023

出　　处：《南京师范大学学报（工程技术版）》2020年第4期30-36,共7页Journal of Nanjing Normal University(Engineering and Technology Edition)

基　　金：国家自然科学基金项目(51475246);江苏省自然科学基金青年项目(BK20171039).

摘　　要：传感器掺杂噪声信号是主动悬架系统运行过程中常见的一种故障.针对二自由度车辆主动悬架系统加速度传感器发生故障的情况,基于最优控制理论和卡尔曼滤波算法,设计了线性高斯二次型(linear quadratic Gaussian,LQG)控制器,分别在谐波激励、冲击性和实测路面谱激励下,进行综合悬架性能仿真分析.结果表明,与无容错情况相比,故障状态下采用容错控制后的簧载与非簧载质量传输率、悬架动行程传输率均大幅减小,有效提升了驾乘舒适性,同时轮胎动载荷传输率显著增大,确保了安全性,整体可近似恢复到无故障时的主动悬架性能.Sensor-doped noise signal is a kind of fault that will occur during the operation of active suspension system.Aiming at the failure of the acceleration sensor of the two-degree-of-freedom vehicle active suspension system,this paper designs a linear quadratic Gaussian(LQG)controller based on the optimal control theory and Kalman filter algorithm.Under the excitation of impact and measured road surface spectrum,a comprehensive suspension performance simulation analysis is carried out.The results show that compared with the non-fault-tolerant situation,the sprung and unsprung mass transmission rate and the suspension dynamic stroke transmission rate after the fault-tolerant control are adopted in the fault state are greatly reduced,which effectively improves the driving comfort and the tire dynamics.The load transmission rate has been significantly increased to ensure safety,and the overall performance of the active suspension can be approximately restored to that in a failure-free condition.

关 键 词：主动悬架 LQG控制器 KALMAN滤波 容错控制 

分 类 号：U463.33[机械工程—车辆工程]