摘要
为了解决电磁混合主动悬架在发生故障时导致的系统失稳现象,设计了一种多模式切换容错控制策略。分别建立了1/4车辆二自由度悬架模型、直线电机数学模型及电磁阀减振器多项式模型。采用未知输入观测器对悬架状态进行估计,以悬架系统簧载质量加速度为正常状态切换条件,以簧载质量加速度残差和稳定模块为故障状态切换条件,设计了一种多模式切换容错控制策略。仿真分析了多模式切换容错控制策略下悬架的动态性能,并开展台架试验。试验结果表明:在多模式切换容错控制下,簧载质量加速度均方根值相比故障状态降低31.35%;多模式切换容错控制策略可以实现悬架在正常状态与故障状态的模式切换,且悬架的动态性能得到改善。
In order to solve the system instability caused by the failure of electro-magnetic hybrid active suspen⁃sion,a multi-mode switching fault-tolerant control strategy is designed.The 1/4 vehicle model including two de⁃gree of freedom suspension,linear motor mathematical model and solenoid valve damper polynomial model are established respectively.The fault-tolerant control strategy is proposed,in which the suspension state is estimat⁃ed by unknown input observer,the suspension system´s sprung mass acceleration is taken as the normal state switching condition,and the sprung mass acceleration residual and stability module are taken as the fault state switching condition.The suspension performance under different gain faults is simulated and analyzed,and the bench test is carried out.Results show that:under the multi-mode switching fault-tolerant control,the root mean square value of sprung mass acceleration is reduced by 31.35%compared with the fault state.The multimode switching fault-tolerant control strategy can realize the mode switching of suspension in normal state and fault state,and the dynamic performance of suspension is improved.
作者
寇发荣
武江浩
景强强
许家楠
李孟欣
KOU Farong;WU Jianghao;JING Qiangqiang;XU Jia´nan;LI Mengxin(School of Mechanical Engineering,Xi´an University of Science and Technology Xi´an,710054,China)
出处
《振动．测试与诊断》
EI
CSCD
北大核心
2022年第1期96-102,197,共8页
Journal of Vibration,Measurement & Diagnosis
基金
国家自然科学基金资助项目(51775426)
陕西省重点研发计划资助项目(2020GY⁃128)
咸阳市重点研发计划资助项目(2021ZDYF⁃GY⁃0027)。
关键词
主动悬架
状态估计
未知输入观测器
容错控制
模式切换
active suspension
state estimation
unknown input observer
fault tolerant control
multi-mode switch
