摘要
基于未知扰动输入观测器对汽车主动悬架车身垂直位移,车身垂直速度,非簧载质量垂直位移和非簧载质量垂直速度状态量进行估计,残差理论对汽车主动悬架作动器发生增益故障时的控制力补偿展开研究。分别建立两自由度1/4车辆主被动悬架模型和故障模型,通过设计未知输入扰动观测器对悬架状态进行估计,并通过故障诊断和检测,获得悬架故障输出残差。在此基础上,基于控制率重组思想,对LQG控制率实时控制力补偿,实现主动悬架作动器的容错控制,并通过Matlab/Simulink对控制效果进行验证。仿真结果表明,设计的观测器能很及时的发现故障发生时刻,而采取的控制力补偿能很快使故障悬架恢复到原来主动悬架性能水平,从而消除了作动器故障对悬架性能的影响,提高了主动悬架控制的可靠性。
Based on the idea of control law reorganization, the actuator of active suspension actuator is compensated. The 2-DOF model and the fault suspension model are established. The suspension state is estimated by designing an unknown input disturbance observer, and the fault output is obtained by fault diagnosis and detection. The fault-tolerant control of the active suspension actuator is realized by designing the fault-tolerant control of the LQG control law based on the control law reconfiguration. Matlab / Simulink simulation results show that the design of the observer can be very timely detection of the time of fault,control force compensation can quickly restore the original suspension to the original performance level, thus eliminating the actuator fault on the suspension performance Thereby improving the riding comfort of the suspension.
出处
《汽车实用技术》
2017年第22期23-26,共4页
Automobile Applied Technology
关键词
主动悬架
作动器
输出残差控制
力补偿
Active suspension
Actuator
Fault-tolerant control
Actuator force compensation Simulation verification
