Nonlinear active suspension fault-tolerant tracking control method based on proportional integral observer

A technology of active suspension and proportional integral, which is applied in the direction of elastic suspension, suspension, transportation and packaging, etc., and can solve problems such as difficult control effects of the suspension system

Active Publication Date: 2019-11-12
XIAN UNIV OF TECH
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Problems solved by technology

However, most of the current research methods are based on the 1 / 4 car model with a simple structure, and most of them are passive fault-tolerant control, which is difficult to have a good control effect on the complex suspension system, so the present invention has certain practicability

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  • Nonlinear active suspension fault-tolerant tracking control method based on proportional integral observer
  • Nonlinear active suspension fault-tolerant tracking control method based on proportional integral observer
  • Nonlinear active suspension fault-tolerant tracking control method based on proportional integral observer

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Embodiment Construction

[0112] The present invention will be further explained below in conjunction with the drawings.

[0113] Such as figure 1 , As shown in 2, considering the nonlinearity and actuator failure of the active suspension of the vehicle, combined with the T-S fuzzy model method, H ∞ Output feedback control and proportional integral observer, a fault-tolerant tracking control method is proposed, so that the vehicle can still maintain good performance after the suspension fails.

[0114] figure 1 It is a four-degree-of-freedom 1 / 2 vehicle suspension system model. It contains the main characteristics of vehicle dynamics analysis and has a simple structure, so it is widely used in the study of suspension control strategies. In addition, figure 2 Describes the structural framework of the fault-tolerant tracking control strategy based on the proportional integral observer designed for the active suspension system of the present invention in the presence of actuator failure and external road dis...

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Abstract

The invention discloses a nonlinear active suspension fault-tolerant tracking control method based on a proportional integral observer. The method comprises the steps that firstly, a half vehicle suspension model based on a Takagi-Sugeno (T-S) fuzzy model is built for describing the uncertainty of a model of a suspension system; secondly, on the basis of the model, a robust H infinite output feedback controller is developed for enhancing the performance of a suspension in the normal actuator mode, and the output response of the controller is regarded as an ideal reference trajectory; finally,the proportional integral observer is designed for online and accurate estimation of actuator faults, and an active tolerant tracking controller is further designed for compensating for performance loss caused by the actuator faults; the method is used for nonlinear active suspension control over the actuator faults, and the problem that external uncertain interference and actuator faults cannot be dealt with is solved.

Description

Technical field [0001] The invention belongs to the field of suspension system fault diagnosis and fault-tolerant control, and specifically relates to a nonlinear active suspension fault-tolerant tracking control method based on a proportional integral observer. Background technique [0002] The vehicle suspension system refers to the force transmission device that connects the frame and the tires. Its main function is to alleviate the body vibration caused by the unevenness of the road surface. Compared with passive suspension and semi-active suspension, active suspension can generate the control force required by the system through actuators according to real-time changes in road conditions, so the suspension system can be optimally controlled. For active suspension systems, researchers have applied many control strategies. For example, sliding mode variable structure control, adaptive backstepping control, robust control, fuzzy control and neural network control. [0003] Alth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G17/018B60G17/0185
CPCB60G17/0182B60G17/0185
Inventor 庞辉杨军杰尚玉婷姚睿刘楠王鹏
Owner XIAN UNIV OF TECH
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