考虑输入和输出约束的主动悬架系统自适应容错控制  

Adaptive fault-tolerant control of active suspension systems with input and output constraints

作　　者：胡银龙 彭佳薇 HU Yin-long;PENG Jia-wei(College of Artificial Intelligence and Automation,Hohai University,Changzhou 213200,China)

机构地区：[1]河海大学人工智能与自动化学院,江苏常州213200

出　　处：《控制与决策》2025年第2期693-698,共6页Control and Decision

基　　金：国家自然科学基金项目(62173125)。

摘　　要：针对具有约束的不确定主动悬架系统(active suspension system,ASS),提出一种考虑输入和输出约束的自适应容错控制方案.首先,设计一个有界约束函数来同时约束车身和轮胎的垂向位移,以实现驾驶舒适度与轮胎抓地力之间的平衡.其次,为了进一步提高驾驶舒适度,针对不确定车身子系统,提出一种考虑输入约束的自适应容错控制律,并与设计的有界约束函数进行叠加,得到最终的控制律.其中,考虑到执行器故障及ASS不确定性带来的未知项,采用自适应控制来逼近未知项的上界,同时引入辅助系统对输入饱和进行补偿.最终,分析ASS的稳定性,并通过仿真对比验证所提出方案的有效性.An adaptive fault-tolerant control scheme considering input and output constraints for uncertain active suspension system(ASS)with constraints is proposed.Firstly,a bounded constraint function is designed to constrain both the vertical displacement of the car-body and the tire in order to achieve a balance between ride comfort and tire grip.Then,to further improve the ride comfort,an adaptive fault-tolerant control law considering input constraint is proposed for the uncertain car-body subsystem,and the final control law is obtained by adding the bounded constraint function.Considering the unknown term caused by actuator fault and ASS uncertainties,the adaptive control is adopted to approach its upper bound.Meanwhile,the auxiliary system is introduced to compensate for input saturation.Finally,the stability of the ASS is analysed and the effectiveness of the proposed scheme is verified by simulation.

关 键 词：主动悬架 输出约束 输入饱和 自适应控制 执行器故障 不确定系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]