考虑作动器故障分级的汽车SASS与LKAS集成容错控制策略

Integrated fault-tolerant control of SASS and LKAS with actuator fault-severity classification taken into consideration

考虑悬架子系统在汽车底盘中的重要作用,基于遗传算法设计了半主动悬架系统与车道保持辅助系统的集成优化控制算法。针对半主动悬架系统作动器发生不同程度的故障对集成控制系统性能的影响,进一步提出了集成容错控制策略。当悬架作动器发生增益故障时,采用基于故障补偿的容错控制算法,而当悬架作动器完全失效时,通过切换优化控制目标函数,提升汽车的总体性能。仿真结果表明:与未集成控制相比,设计的集成优化控制算法可明显改善汽车的乘坐舒适性及稳定性;悬架作动器发生不同程度的分级故障时,提出的集成容错控制策略可显著降低故障对汽车使用性能的影响,提升了汽车的可靠性及行车安全性。

With the important role of the suspension system in vehicle chassis,the integrated optimization-control algorithm for the Semi-Active Suspension System(SASS) and the Lane Keeping Assist System(LKAS) based on the genetic algorithm is worked out. Since different faults of the SASS actuator exert certain influence on the performance of the integrated control system,the control strategy is proposed. When a gain failure occurs in the suspension actuator,the fault-tolerant control algorithm based on fault compensation is adopted;when the suspension actuator suffers ineffectiveness,the overall performance of the vehicle is improved by switching the objective function of optimization control. The simulation results show that the integrated optimization-control algorithm,compared with its non-integrated counterpart,ensures that the vehicle is comfortable and stable;when the SASS actuator suffers different faults,thanks to the integrated fault-tolerant control,the impact of faults on vehicle performance is reduced significantly,thus ensuring a high standard of vehicle reliability and driving safety.