整车电磁混合主动悬架故障诊断与容错控制研究

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摘要建立了整车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动态特性。结果表明：在时域和频域范围内，悬架动挠度、车身垂向加速度、俯仰角加速度、侧倾角加速度均有改善，车辆的平顺性与安全性得到提升。最后，进行了整车电磁混合悬架容错控制实车试验，试验结果表明：在容错控制下，左前悬架动挠度改善了43.736%，车身垂向加速度改善了40.325%，验证了该容错控制方法的有效性。

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	寇发荣
	武江浩
	许家楠
	陈若晨

关键词 ：主动悬架, 未知输入观测器, 容错控制, 故障诊断, 残差

Abstract：Aiming at the failure of an actuator of the electromagnetic hybrid suspension of the vehicle, a fault diagnosis and fault-tolerant control method is proposed. The 7-degree-of-freedom model and the failure suspension model of the vehicle are established, and the LQG controller is used as the conventional controller of the electromagnetic hybrid active suspension, and the unknown input observer is 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 are 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 is carried out. The 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.

Key words： active suspension Unknown Input Observer fault tolerant control fault diagnosis；residual

收稿日期: 2021-03-29 出版日期: 2022-02-28

引用本文:

寇发荣，武江浩,许家楠，陈若晨. 整车电磁混合主动悬架故障诊断与容错控制研究[J]. 振动与冲击, 2022, 41(4): 101-109.
KOU Farong, WU Jianghao, XU Jia’nan, CHEN Ruochen. A study on fault diagnosis and fault tolerant control of vehicle electromagnetic hybrid active suspension. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(4): 101-109.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2022/V41/I4/101

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