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Fault-tolerant control method of automobile active suspension system based on switching control

A technology of active suspension and fault-tolerant control, applied in the direction of suspension, elastic suspension, vehicle components, etc.

Inactive Publication Date: 2020-02-21
JIANGSU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a fault-tolerant control method of the vehicle active suspension system based on switching control. The fault-tolerant control method mainly solves the two key uncertain factors of actuator failure mode and failure type, and ensures The frame system can achieve the desired control goal and obtain ideal performance under the condition of uncertain actuator failure

Method used

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  • Fault-tolerant control method of automobile active suspension system based on switching control
  • Fault-tolerant control method of automobile active suspension system based on switching control
  • Fault-tolerant control method of automobile active suspension system based on switching control

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Embodiment

[0103] Such as figure 1 As shown, the embodiment of the present invention provides a kind of fault-tolerant control method of the automobile active suspension system based on switching control, and this fault-tolerant control method comprises the following steps:

[0104] Step 1, establishing a mathematical model of the vehicle active suspension system under uncertain fault conditions;

[0105] The semi-vehicle active suspension system is adopted, and its system dynamic equation is:

[0106]

[0107] In the above formula (1), M and I are the mass and moment of inertia of the car body respectively, m f and m r are the front and rear unsprung masses, F df , F dr , F sf and F sr are respectively the force generated by the spring damper, F tf , F bf , F tr and F br are the spring force and resistance produced by the tire respectively, z c is the vertical displacement of the suspension, φ is the pitch angle, z 1 and z 2 is the unsprung displacement, z 01 and z 02 ...

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Abstract

The invention discloses a fault-tolerant control method for an automobile active suspension system based on switching control, and the method comprises the steps: building a mathematic model of the automobile active suspension system under the condition of an uncertain actuator fault, and representing the uncertain impact on the control input of the system from the actuator fault uncertainty in amode of the mathematic model; designing a fault-tolerant controller based on a mathematical model of an active suspension under a fault, designing a basic feedback controller in combination with inversion control to ensure a closed-loop system problem, designing a fault compensation controller for each fault mode, and designing a controller capable of solving the corresponding fault mode based onswitching control; and using a Lyapunov function method to test the performance of the fault-tolerant controller. The method mainly solves two key uncertain factors of an actuator fault mode and a fault type, ensures that the automobile active suspension system achieves an expected control target under the condition of uncertain actuator faults, and obtains ideal performance.

Description

technical field [0001] The invention relates to the technical field of automobile suspension control, in particular to a fault-tolerant control method of an automobile active suspension system based on switching control. Background technique [0002] The automobile suspension system is the basis for significantly improving passenger comfort and handling characteristics. Roughly speaking, vehicle suspension can be divided into three types: passive suspension, semi-active suspension and active suspension, and passive suspension system and semi-active suspension. Compared with active suspension systems, active suspension systems have the best performance potential in different driving conditions. Therefore, the control problems of the system have been widely concerned, such as optimal control, predictive control, robust control, fuzzy control, adaptive control, etc., among which, the adaptive control method has a strong ability to deal with system uncertainty, and Ensure that ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/15B60G17/0185
CPCB60G17/0185B60G2600/08
Inventor 姚雪莲杨艺朱凯王晨光葛佳汪王可贤
Owner JIANGSU UNIV OF TECH
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