具有预设性能的电液主动悬架动态面容错控制  

Dynamic surface fault-tolerant control of electro-hydraulic active suspension with prescribed performance

作　　者：郭雪杰 闫帅 孙维超 GUO Xue-jie;YAN Shuai;SUN Wei-chao(Research Institute of Intelligent Control and Systems,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]哈尔滨工业大学航天学院智能控制与系统研究所,黑龙江哈尔滨150001 [2]北京理工大学自动化学院,北京100081

出　　处：《控制理论与应用》2024年第10期1726-1734,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(62022031,U1964201);中央基本业务费项目资助.

摘　　要：针对主动悬架系统中存在内部不确定性,外界干扰和执行器故障情况下的振动抑制问题,本文提出了一种具有预设性能的动态面容错控制方法.首先,通过引入预设性能函数,采用对数型障碍Lyapunov函数,使车身运动位移具有预先设定的瞬态和稳态跟踪性能,与传统预设性能方法相比,该方法不需要误差转换,从而降低了控制器设计的复杂度.然后,采用非线性扰动观测器在线估计悬架系统中存在的复合干扰,有效地补偿其不利影响.通过构造基于不连续投影方法的自适应律,解决了电液执行器液压缸内部泄漏故障问题,同时,引入动态面技术,避免了反步法中虚拟控制律偏微分计算困难问题.最后,基于Lyapunov稳定性理论证明了闭环系统中所有状态变量是有界的,Carsim仿真结果验证了所提控制方法的有效性和优越性.Aiming at the problem of vibration suppression for active suspension system with internal uncertainty,exter-nal disturbance and actuator fault,a dynamic surface fault-tolerant control method with prescribed performance is proposed.Firstly,by introducing a prescribed performance function and the logarithmic barrier Lyapunov function,the vehicle body displacement satisfies the prescribed transient and steady-state tracking performance.Compared with the traditional pre-scribed performance methods,this method does not require error transformation and thus has lower complexity.Then,the composite disturbance existing in the suspension system is estimated online by using the nonlinear disturbance observer,and the adverse effect of external disturbance is effectively reduced.By constructing an adaptive law based on the dis-continuous projection method,the hydraulic cylinder internal leakage problem of the electro-hydraulic actuator is solved.At the same time,the dynamic surface technology is introduced to avoid the partial differential calculation problem of the virtual control law in the backstepping method.Finally,based on the Lyapunov stability theory,it is proved that all state variables in the closed-loop system are bounded.The simulation results of Carsim verify the effectiveness and superiority of the proposed control method.

关 键 词：电液主动悬架 预设性能 容错控制 扰动观测器 动态面技术 

分 类 号：U463.6[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]