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Robust control method of active suspension system based on time-varying displacement constraint

A technology of active suspension and robust control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as fault-tolerant control of suspension system with little attention

Active Publication Date: 2020-01-10
LIAONING UNIVERSITY OF TECHNOLOGY
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  • Abstract
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Problems solved by technology

However, these studies pay little attention to the problem of fault-tolerant control of the suspension system, especially the safety of its suspension system

Method used

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  • Robust control method of active suspension system based on time-varying displacement constraint
  • Robust control method of active suspension system based on time-varying displacement constraint
  • Robust control method of active suspension system based on time-varying displacement constraint

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Embodiment Construction

[0089] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0090] Such as figure 1 As shown, the method of this embodiment is as follows.

[0091] Step 1: Establish a mathematical model of the actuator failure of the active suspension system:

[0092]

[0093] where u is the actuator output signal in the active suspension system, u c is the actuator input signal, T f is the fault occurrence time, ρ is the failure factor, θ represents the deviation from the fault, and there is a constant ρ and so that the following inequalities hold:

[0094]

[0095] When the actuator deviates from the fault, ρ=0, θ≠0, at this time u c No longer works, deviates to the fault value θ;

[0096] When the actuator fails, ρ∈(0,1), θ=0, a...

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Abstract

The invention discloses a robust control method of an active suspension system based on time-varying displacement constraint and belongs to the field of automobile stability control technologies. According to the method, stress analysis is performed on a bodywork and tires under a suspension respectively according to the second law and the third law of Newton, a 1 / 4 automobile active suspension system mathematical model containing an actuator fault mathematical model is established, the nonlinear active suspension system is identified based on a radial basis function neural network, an actuator with a fault compensation function and a self-adaptive law of the actuator are designed, a barrier Lyapunov function is adopted to verify the stability of the closed-loop active suspension system, and finally parameters of the actuator and the self-adaptive law are adjusted to achieve the final control objective. Through the method, the thought of constraint control is considered in the design of the fault compensation actuator of the active suspension system, the performance of the actuator with a fault is obviously improved, and the safety of an automobile is guaranteed.

Description

technical field [0001] The invention relates to the technical field of automobile stability control, in particular to a robust control method for an active suspension system with time-varying displacement constraints. Background technique [0002] With the improvement of living standards and the continuous development of science and technology, active suspension systems play an important role in automobiles. The automotive suspension system integrates electronic systems, sensing systems, signal systems, power systems and other important components. When the car encounters different road condition information during driving, the car can use the active suspension system to make real-time adjustments to ensure the overall safety of the car and improve the ride comfort of passengers. [0003] During the actual operation of the automobile suspension system, problems such as sensor failure, transmission signal error and equipment aging may occur, and these problems may cause dama...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘艳军曾强刘磊李大鹏
Owner LIAONING UNIVERSITY OF TECHNOLOGY
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