Fault-tolerant tracking control method for nonlinear active suspension based on proportional-integral observer

A technology of active suspension and proportional integral, which is applied in the direction of elastic suspension, suspension, vehicle components, etc., can solve the problem of difficult control effect of the suspension system, to ensure progressive stability, the method is simple and easy to implement, and it is very robust sexual effect

Active Publication Date: 2022-06-07
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 simple structure, and most of them are passive fault-tolerant control. It is difficult to have a good control effect on the complex suspension system, so the present invention has certain practicability

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  • Fault-tolerant tracking control method for nonlinear active suspension based on proportional-integral observer
  • Fault-tolerant tracking control method for nonlinear active suspension based on proportional-integral observer
  • Fault-tolerant tracking control method for nonlinear active suspension based on proportional-integral observer

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Embodiment Construction

[0114] The present invention is further explained below in conjunction with the accompanying drawings.

[0115] as Figure 1 As shown in 2, considering the presence of nonlinearity and actuator faults in the active suspension of the vehicle, combined with the T-S fuzzy model method, H ∞ The output feedback control and proportional integration observer propose a fault-tolerant tracking control method so that the vehicle can maintain good performance after suspension failure.

[0116] Figure 1 It is a model of a 4-degree-of-freedom 1 / 2 vehicle suspension system, which contains the main features of vehicle dynamics analysis and has a simple structure, so it is widely used in the study of suspension control strategies. furthermore Figure 2 Describes the structural framework of the fault-tolerant tracking control strategy based on the proportional integral observer in the presence of actuator fault and external road interference, the present invention is designed for an active suspensi...

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Abstract

A fault-tolerant tracking control method for nonlinear active suspension based on proportional integral observer. First, in order to describe the model uncertainty of the suspension system, a 1 / 2 vehicle suspension model based on the Takagi-Sugeno (T-S) fuzzy model is established; Second, based on this model, a robust H ∞ An output feedback controller is used to enhance the performance of the suspension in the normal actuator mode, and its output response is regarded as an ideal reference trajectory; finally, a proportional-integral observer is designed to accurately estimate the actuator failure online, and an active fault tolerance is further designed The controller is tracked to compensate the performance loss caused by actuator failure; the invention is used for nonlinear active suspension control of actuator failure, and solves the problem of being unable to cope with external uncertain interference and actuator failure.

Description

Technical field [0001] The present invention belongs to the field of suspension system fault diagnosis and fault tolerance control, specifically relates to a nonlinear active suspension fault tolerance tracking control method based on a proportional integration observer. Background [0002] Vehicle suspension system refers to the force transmission device that connects the frame and the tire, and its main function is to alleviate the body vibration caused by road unevenness. In contrast to passive suspension and semi-active suspension, active suspension generates the control force required by the system through the actuator based on real-time changes in road conditions, so that the suspension system can be optimally controlled. For active suspension systems, researchers have applied a number of control strategies to them. For example, sliding mode variable structure control, adaptive push back control, robust control, fuzzy control, and neural network control. [0003] Although t...

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Application Information

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Patent Type & Authority Patents(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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