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执行器存在故障的汽车半车主动悬架系统自适应受限控制

华长春1，柳世莹1，陈健楠1，李 亮2   

  1. （1. 燕山大学 电气工程学院，秦皇岛 066000，中国；2. 汽车安全与节能国家重点实验室 清华大学，北京 100084，中国）
  • 收稿日期:2017-11-28 出版日期:2018-03-31 发布日期:2018-04-10
  • 作者简介:华长春(1979—)，男( 汉)，江苏，教授。E-mail: cch@ysu.edu.cn。
  • 基金资助:

    国家自然科学基金资助项目(61673335, 61751309) ；汽车安全与节能国家重点实验室开放基金(KF16252)。

Adaptive constrained control of half-car active suspension system with actuator failures

HUA Changchun1, LIU Shiying1, CHEN Jiannan1, LI Liang2   

  1. (1. School of Electrical Engineering, Yanshan University, Qinhuangdao 066000, China ；2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China)
  • Received:2017-11-28 Online:2018-03-31 Published:2018-04-10

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摘要：

       为使悬架系统在执行器故障下仍能稳定运行，针对一类执行器存在故障的汽车半车主动悬架系统提出自适应控制方法。在提出的控制框架下，汽车半车主动悬架系统分为两个子系统；基于第1个子系统设计控制器，第2 个子系统为悬架系统的零动态；针对第1 个子系统提出了受限控制和自适应的方法，针对第2 个子系统提出了与零动态相对应的稳定性分析方法。结果表明：受限控制方法确保了系统重要状态性能受限，自适应方法解决了执行器故障带来的不利影响，并且稳定性分析方法保证了系统状态最终一致有界；仿真结果证明了所设计控制器的有效性。

关键词: 主动悬架系统, 执行器故障, 受限控制, 自适应控制, 零动态

Abstract:

An adaptive control scheme for half-car active suspension system with actuator failures was proposed to ensure the stable operation of the suspension system under the actuator failure. Under the proposed control framework, the half-car active suspension system was divided into two subsystems. The
controller was designed based on the first subsystem, and the second subsystem was regarded as zero dynamic of this system. For the first system, the methods of constrained and adaptive controls were put, for the second subsystem, the stability analysis of zero dynamic was presented. The results show that the method of constrained control ensures that some important state variables of the system satisfy the given restrictive conditions. The adverse effects of the actuator failures can be compensated by the adaptive control method.The system is ensured to be uniformly ultimately bounded by the method of stability analysis. The simulation example verifies the effectiveness of the proposed scheme.

Key words: active suspension system, actuator failures, constrained control, adaptive control, zero dynamic