Fault-tolerant self-adaptation control method of automobile active suspension system

An adaptive control and active suspension technology, applied in the field of control, can solve problems such as being unable to cope with external uncertain disturbances, unmodeled dynamics, and unable to meet the system dynamic performance when the actuator fails.

Active Publication Date: 2013-08-28
哈尔滨工业大学高新技术开发总公司
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  • Abstract
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Problems solved by technology

[0008] The present invention provides an active suspension for automobiles to solve the problem that the design model of the existing suspension control technology is relatively simple, cannot meet the dynamic performance of the system when the actuator fails, and cannot cope with external uncertain interference and unmodeled dynamics. Fault Tolerant Adaptive Control Method for System

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  • Fault-tolerant self-adaptation control method of automobile active suspension system
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  • Fault-tolerant self-adaptation control method of automobile active suspension system

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specific Embodiment approach 1

[0029] Specific embodiment one: the fault-tolerant adaptive control method of the automobile active suspension system of the present embodiment is realized according to the following steps:

[0030] Step 1. Establish a nonlinear semi-vehicle active suspension model, which includes the following two contents:

[0031] (1) Establish a nonlinear semi-vehicle active suspension model of healthy actuators;

[0032] (2), establish the nonlinear semi-vehicle active suspension system model when the actuator fails;

[0033] Step 2. Design a nonlinear robust controller;

[0034] Step 3, adjusting the control gain parameters of the nonlinear robust controller.

[0035] In this embodiment, the mass of the vehicle body: M=1200kg; the maximum value of the mass of the vehicle body: M max =1500kg; minimum body weight: M min =1500kg; Moment of inertia of body pitching motion: I=600kgm 2 ;Maximum moment of inertia of body pitching motion: I max =700kgm 2 ;The minimum moment of inertia of ...

specific Embodiment approach 2

[0047] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the non-linear semi-vehicle active suspension model of establishing healthy actuator described in step one (1) is specifically:

[0048] According to Newton's second law, the ideal dynamic equation of its sprung mass and unsprung mass can be expressed as:

[0049] M z · · c = Ψ 1 ( t ) + u 1 + u 2 + F l - - - ( 1 )

[0050]

[0051] m f z · · ...

specific Embodiment approach 3

[0067] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the semi-vehicle active suspension system model when setting up actuator failure as described in step one (two) is specifically:

[0068] When the semi-vehicle active suspension system (1)~(4) suffers from actuator failure, the failure is divided into two categories:

[0069] 1): Complete actuator failure: Actuator failure is expressed as

[0070] u i = u ‾ i , ∀ t ≥ T fi , i=1,2

[0071] T in the above formula fi represents an unknown moment at which the failure occurred, is an unknown constant value, indicating the output of the actuator at the moment of stuck;

[0072] 2): Partial failure of the actuator: the failure is indicated as

[0073] ...

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Abstract

The invention relates to a control method, in particular to a fault-tolerant self-adaptation control method of an automobile active suspension system. The fault-tolerant self-adaptation control method of the automobile active suspension system aims at resolving the problems that an existing suspension control technology design model is relatively simple, cannot meet dynamic performance of the system when an actuator breaks down, and cannot respond to indeterminate interference of the outside world and unmodeled dynamics. The fault-tolerant self-adaptation control method of the automobile active suspension system comprises a first step of building a nonlinear semi-automobile active suspension model, a second step of designing a nonlinear Robust controller, and a third step of adjusting control gain parameters of the nonlinear Robust controller. The fault-tolerant self-adaptation control method of the automobile active suspension system is applied to the field of automobile active suspension control.

Description

technical field [0001] The invention relates to a control method, in particular to a fault-tolerant adaptive control method of an automobile active suspension system. Background technique [0002] Automotive active suspension system is a research hotspot in recent years. Its basic function is to improve driving comfort and enhance vehicle handling. Active suspension systems have great potential to improve driving comfort and vehicle handling, so this field has received extensive attention in recent years. In addition to the basic function of supporting the weight of the vehicle body, the active suspension system also has the main functions of isolating the vibration caused by uneven road surfaces and maximizing the contact between the tires and the road surface to ensure the safety of the vehicle. In the active suspension, the actuator is placed in parallel between the body and the wheels, which can increase and dissipate the energy of the system, so that the suspension sys...

Claims

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Application Information

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IPC IPC(8): B60G17/015B60G17/00
Inventor 孙维超潘惠惠高会军
Owner 哈尔滨工业大学高新技术开发总公司
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