整车电磁混合主动悬架故障诊断与容错控制研究

针对整车电磁混合悬架某一作动器发生故障,提出了一种故障诊断与容错控制方法.建立了整车7自由度模型和故障悬架模型,采用LQG控制器作为电磁混合主动悬架的常规控制器,采用未知输入观测器获取悬架的状态观测值.基于获取的悬架动挠度残差,设计了逻辑模块和稳定模块对悬架进行故障诊断.仿真分析了容错控制策略下悬架在时域和频域范围内的...

A study on fault diagnosis and fault tolerant control of vehicle electromagnetic hybrid active suspension

Aiming at the failure of an actuator of the electromagnetic hybrid suspension of a vehicle, a fault diagnosis and fault-tolerant control method was proposed. The 7-degree-of-freedom model and the failure suspension model of the vehicle were established, and the LQG controller was used as the conventional controller of the electromagnetic hybrid active suspension, and the unknown input observer was used to obtain the state observation value of the suspension. Based on the obtained suspension working space residual, a logic module and a stability module were designed to diagnose the suspension fault. The simulation analyzes the dynamic characteristics of the suspension in the time domain and frequency domain under the fault-tolerant control strategy. The results show that: in the time domain and frequency domain, suspension working space, body vertical acceleration, pitch angular acceleration, roll angular acceleration are all improved, and the ride comfort and safety of the vehicle are improved. Finally, the real vehicle test of fault-tolerant control of electromagnetic hybrid suspension was carried out. Test results show that the left-front suspension working space is reduced by 43.736% and the body vertical acceleration is reduced by 40.325% under the fault-tolerant control, which verifies the effectiveness of the fault-tolerant control method.