Fault-tolerant self-adaptation control method of automobile active suspension system
An adaptive control and active suspension technology, applied in the field of control, can solve problems such as being unable to cope with external uncertain disturbances, unmodeled dynamics, and unable to meet the system dynamic performance when the actuator fails.
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specific Embodiment approach 1
[0029] Specific embodiment one: the fault-tolerant adaptive control method of the automobile active suspension system of the present embodiment is realized according to the following steps:
[0030] Step 1. Establish a nonlinear semi-vehicle active suspension model, which includes the following two contents:
[0031] (1) Establish a nonlinear semi-vehicle active suspension model of healthy actuators;
[0032] (2), establish the nonlinear semi-vehicle active suspension system model when the actuator fails;
[0033] Step 2. Design a nonlinear robust controller;
[0034] Step 3, adjusting the control gain parameters of the nonlinear robust controller.
[0035] In this embodiment, the mass of the vehicle body: M=1200kg; the maximum value of the mass of the vehicle body: M max =1500kg; minimum body weight: M min =1500kg; Moment of inertia of body pitching motion: I=600kgm 2 ;Maximum moment of inertia of body pitching motion: I max =700kgm 2 ;The minimum moment of inertia of ...
specific Embodiment approach 2
[0047] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the non-linear semi-vehicle active suspension model of establishing healthy actuator described in step one (1) is specifically:
[0048] According to Newton's second law, the ideal dynamic equation of its sprung mass and unsprung mass can be expressed as:
[0049] M z · · c = Ψ 1 ( t ) + u 1 + u 2 + F l - - - ( 1 )
[0050]
[0051] m f z · · ...
specific Embodiment approach 3
[0067] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the semi-vehicle active suspension system model when setting up actuator failure as described in step one (two) is specifically:
[0068] When the semi-vehicle active suspension system (1)~(4) suffers from actuator failure, the failure is divided into two categories:
[0069] 1): Complete actuator failure: Actuator failure is expressed as
[0070] u i = u ‾ i , ∀ t ≥ T fi , i=1,2
[0071] T in the above formula fi represents an unknown moment at which the failure occurred, is an unknown constant value, indicating the output of the actuator at the moment of stuck;
[0072] 2): Partial failure of the actuator: the failure is indicated as
[0073] ...
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