基于滑模观测器的半主动悬架滑模容错控制  

Fault-Tolerant Control of Semi-Active Suspension Sliding Mode Based on Sliding-Mode Observers

作　　者：何静[1] 黄健涛 贾林[2] HE Jing;HUANG Jiantao;JIA Lin(College of Electrical and Information Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China;College of Railway Transportation,Hunan University of Technology,Zhuzhou Hunan 412007,China)

机构地区：[1]湖南工业大学电气与信息工程学院,湖南株洲412007 [2]湖南工业大学轨道交通学院,湖南株洲412007

出　　处：《湖南工业大学学报》2025年第4期48-56,共9页Journal of Hunan University of Technology

基　　金：国家自然科学基金资助项目(52172403,62303178);湖南省教育厅科学研究基金资助项目(23A0426,22B0577);湖南省自然科学基金资助项目(2023JJ50193)。

摘　　要：针对高速列车半主动悬架系统的执行器部件容易产生故障问题,提出了一种基于观测器的积分滑模容错控制方法。首先,构建了考虑执行器故障的高速列车非线性动力学模型,再对系统状态方程进行降阶处理,设计了滑模观测器对执行器故障值进行实时估计,得出故障表达式;然后,以列车位移偏差为反馈信号设计了相应的积分滑模容错控制器,计算得出保持悬架稳定的输出阻尼力,结合李雅谱诺夫稳定性理论对滑模容错控制器稳定性进行分析;最后,通过仿真及实验验证所设计观测器的跟踪精度在故障发生后0.5 s内达93%左右,且与传统PID控制算法对比,ICSMC控制算法能使各状态变量更快稳定至零域附近,保证列车以稳定的姿态运行。Due to the fact that when the actuator components of the semi-active suspension system of the high speed train are prone to malfunction.In view of a solution of this problem,an observer-based integrated sliding mode fault-tolerant control method has thus been proposed.Firstly,a nonlinear dynamic model is constructed of high-speed trains considering actuator faults,followed by a reduction of the system state equation and a design of a sliding mode observer for an estimation of the actuator fault values in real time,thus obtaining the fault expression.Then,a corresponding integral sliding mode fault-tolerant controller is designed with the displacement deviation of the train as the feedback signal,with the output damping force to maintain suspension stability calculated,followed by an analysis of the stability of the sliding mode fault-tolerant controller with Lyapunov stability theory combined together.Finally,based on a simulation and experimental verification,the tracking accuracy of the designed observer reaches around 93%within 0.5 seconds after the fault occurs.Compared with traditional PID control algorithms,the ICSMC control algorithm can stabilize each state variable to near zero domain faster,thus ensuring a stable posture of the trains in operation.

关 键 词：高速列车 姿态控制 执行器乘性故障 滑模观测器 积分滑模控制器 

分 类 号：U264.91[机械工程—车辆工程]