主动悬架的二阶滑模容错控制研究

孙晋伟; 刘秋; 顾亮

doi:10.13433/j.cnki.1003-8728.20200219

主动悬架的二阶滑模容错控制研究

doi: 10.13433/j.cnki.1003-8728.20200219

孙晋伟^1,,
刘秋²,
顾亮^2,

1.
西安航空学院车辆工程学院，西安　710077
2.
北京理工大学机械与车辆学院，北京　100081

基金项目: 陕西省自然科学基金项目（2021JQ-857）、陕西省教育厅专项科研计划项目（21JK0700）及交通行业重点实验室开放基金项目（JTZL2002）

详细信息

作者简介:
孙晋伟（1987−），讲师，博士，主要研究方向为车辆动力学和主动控制

顾亮：jinweisunbit@126.com

中图分类号: TH113
计量
- 文章访问数: 295
- HTML全文浏览量: 65
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2020-03-10
- 网络出版日期: 2021-05-28
- 刊出日期: 2021-10-18

Second Order Sliding Mode Fault Tolerant Control of Active Suspension Systems

1.
School of Vehicle Engineering, Xi′ an Aeronautical University, Xi′ an 710077, China
2.
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

摘要

摘要: 针对主动悬架执行器故障，基于终端滑模和二阶超螺旋滑模算法，研究不同路面激励及不同执行器故障下悬架系统特性，实现主动悬架容错控制的目的。首先建立了七自由度悬架模型和非线性液压执行器模型，将悬架系统分为簧载质量运动的内部动力学和含有执行器子系统的外部动力学；然后引入非奇异快速终端滑模控制器来抑制簧载质量运动加速度，并利用超螺旋滑模控制器来跟踪终端滑模产生的期望控制力，使主动悬架在外部干扰及执行器故障工况下仍能保持期望性能；最后利用Lyapunov方程证明了超螺旋滑模控制器的稳定性。仿真结果表明：控制算法能有效提升车辆振动系统的性能；相比于传统的H_∞控制，二阶滑模能更有效地提升系统的可靠性。
- 主动悬架 /
- 执行器故障 /
- 2阶滑模 /
- 终端滑模
Abstract: To improve the vibration performance of active suspension systems subject to actuator faults and disturbances, a terminal sliding mode and super twisting sliding mode-based fault tolerant controller was presented. Firstly, a 7-DOF suspension model and a nonlinear hydraulic actuator model were built for accurate control. The 3-DOF subsystem representing sprung mass motions was considered as the internal dynamics of the suspension system, and the subsystem with 4-DOF including unsprung masses, hydraulic actuators and external disturbances was considered as the external dynamics of the system. Then the proposed controller was implemented in two stages to provide a fault tolerant approach. A nonsingular fast terminal sliding mode based sliding manifold was designed for the internal system to suppress the sprung mass motions arising from road disturbances, and a super twisting algorithm was introduced for the external system to track the desired forces generated by the terminal sliding mode controller. Moreover, the stability of the controller was proved by the strong Lyapunov functions. Simulation results indicate that compared with traditional H_∞ approach, the proposed controller can achieve better performance under both faulty and healthy conditions.
- active suspension /
- actuator fault /
- second order sliding mode /
- terminal sliding mode

HTML全文

图 1 悬架动力学模型

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图 2 基于二阶滑模的容错控制流程图

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图 3 四轮路面高程输入

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图 4 无故障时簧载质量运动响应

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图 5 无故障时悬架动行程响应

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图 6 无故障时轮胎动位移响应

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图 7 垂向加速度、悬架动行程和轮胎动位移的频域响应

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图 8 执行器故障信号

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图 9 有故障时簧载质量运动响应

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图 10 有故障时悬架动行程响应

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图 11 有故障时轮胎动位移响应

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表 1 悬架和液压执行器模型参数

参数	数值	参数	数值
m_s/kg	1592	k_ni/(N·m⁻¹)	14600
m_ui/kg	120/150	b_i/(N·m·s⁻¹)	3000
a/m	1.18	K_ti/(N·m⁻¹)	230000
b/m	1.7	P_s/(N·m⁻²)	1.034×10⁷
c/m	0.7875	A_P	3.35×10⁻⁴
d/m	0.7875	C_d	0.61
I_y/(kg·m²)	2488	w/m	1.436×10⁻²
I_x/(kg·m²)	614	ρ/(kg·m⁻³)	858
k_i/(N·m⁻¹)	146000	α	1.19143×10¹³

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表 2 控制器参数

参数	数值	参数	数值
$ {{\gamma }_{{\textit{z}}1}},{{\gamma }_{\theta 1}},{{\gamma }_{\varphi 1}} $	3	$ {{\alpha }_{{\textit{z}}}},{{\alpha }_{\theta }},{{\alpha }_{\varphi }}$	1.5
$ {{\gamma }_{{\textit{z}}2}},{{\gamma }_{\theta 2}},{{\gamma }_{\varphi 2}}$	1.667	$ {{\;\beta }_{{\textit{z}}}},{{\beta }_{\theta }},{{\beta }_{\varphi }} $	1.9
$ {{K}_{{\textit{z}}1}},{{K}_{\theta 1}},{{K}_{\varphi 1}}$	0.05	$ {{\lambda }_{2i-1}} $	0.01
$ {{K}_{{\textit{z}}1}},{{K}_{\theta 1}},{{K}_{\varphi 1}} $	1	$ {{\lambda }_{2i}}$	1

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参考文献(19)

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