基于T-S模糊模型的主动悬架滑模容错控制器设计

SLIDING-MODE FAULT TOLERANT CONTROLLER DESIGN FOR VEHICLE ACTIVE SUSPENSION SYSTEMS BASED ON T-S FUZZY MODEL

针对主动悬架系统的质量参数不确定性以及作动器出现的随机故障对车辆行驶平顺性和控制稳定性带来的重要影响,该文提出一种基于T-S模糊模型的主动悬架滑模容错控制器设计方法。为了描述悬架参数不确定性,基于T-S模糊模型建立1/4车辆的非线性模型,利用故障调节因子表示作动器故障的大小,进而获得考虑悬架系统质量不确定性和作动器故障的车辆主动悬架控制模型。接着,将滑模控制与自适应理论结合,设计合适的滑模面函数和滑模容错控制律,以达到故障悬架系统的容错控制目的;并基于Lyapunov稳定性理论,对所提出控制器稳定性和悬架系统安全约束性能进行了分析。最后,给出一个仿真算例,验证了所设计控制器的有效性和适用性。

To resolve the problem of riding comfort and control stability caused by the variation of vehicle suspension sprung masses and the stochastic actuator faults,a novel sliding-mode fault tolerant controller design method is proposed for vehicle active suspension systems based on T-S fuzzy model.To describe the system parameter uncertainties of active suspensions,a quarter-vehicle nonlinear dynamic model based on T-S fuzzy approach is first established,in which a fault tuning factor is employed to denote the amplitude of actuator faults,thus the control plant of vehicle active suspension with considering the uncertainties of vehicle suspension sprung body masses and the actuator faults is obtained.Based on this control model,an appropriate sliding-mode surface function and fault tolerant control law are developed to realize the fault tolerant control of the fault suspension system through the combination of classical sliding control theory and adaptive control theory.Moreover,the stability analysis and suspension safety constraint performances are carried out by Lyapunov stability theory.Finally,a numerical example is provided to verify the effectiveness and applicability of the proposed fault tolerant controller under different road conditions.