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针对汽车主动悬架作动器故障,提出了一种基于故障补偿思想的主动容错控制方法.建立了半车4自由度主动悬架模型及作动器故障悬架模型,以H∞加权输出反馈控制器作为主动悬架常规控制器,基于自适应观测器设计作动器在线故障估计器,并以此为输入设计故障补偿器,由常规控制器和故障补偿器共同实现主动容错控制.仿真结果表明:设计的在线故障估计器可准确实时估计作动器常见故障的幅值,针对作动器增益及恒偏差故障引起的主动悬架性能下降,可在主动容错控制下使故障悬架性能经短暂时间后恢复至与正常悬架性能相接近的水平,进一步提升了车辆乘坐舒适性和可靠性.
Aiming at the fault of active suspension suspension actuator, a fault tolerant control method based on fault compensation idea is proposed.A semi-autonomous 4-DOF active suspension model and an actuator failure suspension model are established, and the H∞ weighted output feedback The controller, as an active suspension conventional controller, designs an on-line actuator fault estimator based on adaptive observer, and uses it as input to design a fault compensator, and the common controller and fault compensator jointly implement active fault tolerant control. It shows that the designed on-line fault estimator can accurately estimate the amplitude of the common fault of the actuator in real time, reduce the active suspension performance caused by the actuator gain and constant deviation fault, and make the fault suspension performance After a brief period of time returned to normal suspension performance and close to the level of further enhance the vehicle ride comfort and reliability.