摘要
随着汽车工业技术发展和人们消费水平提高，汽车乘坐舒适性、操纵稳定性、使用可靠性及安全性越来越被人们所重视。汽车主动悬架由汽车悬架、传感器、控制器和作动器组成。采用主动控制能明显改善其性能，提高汽车乘坐舒适性、汽车操纵稳定性等性能。但在汽车主动悬架系统中，元器件使用时间增加、老化、疲劳等原因，将导致系统参数发生微小变化，导致系统出现参数不确定性，影响系统控制鲁棒性。传感器作为主动悬架系统信号测量通道主要元件、作动器作为主动悬架系统控制输入通道主要元件，一旦出现故障，都将造成完好无故障情况下设计的控制器误控制，甚至出现控制效果部分或完全丧失，原预期控制效果无法达到。再者，若控制单元发生故障，主动悬架系统将出现紊乱现象。这些既影响汽车乘坐舒适性，也影响汽车操纵稳定性、使用可靠性和品质。
本文以汽车主动悬架为研究对象，结合当前汽车主动悬架控制均基于元部件完好无故障进行研究而存在的不足或缺陷，基于容错控制理论，以汽车主动悬架控制可靠性和使用品质提高、悬架设计方法优化为目标，针对汽车主动悬架传感器故障和作动器故障进行故障检测、诊断与隔离技术研究，针对带有故障的汽车主动悬架进行容错控制策略研究。主要包括以下内容：
（1）全面、深入分析汽车主动悬架作动器故障和传感器故障情况，建立作动器故障模型和传感器故障模型。结合汽车主动悬架模型分别建立传感器故障时故障悬架模型、作动器故障时故障悬架模型及悬架系统参数摄动和作动器故障同时存在时的故障悬架模型。
（2）针对汽车主动悬架作动器故障，基于残差信息的方法研究汽车主动悬架系统故障检测、诊断与隔离技术。针对汽车主动悬架传感器故障，首先基于残差信息的方法研究故障检测、诊断与隔离技术。然后基于Kalman滤波器组对传感器故障进行定量化检测与隔离研究。
（3）考虑汽车主动悬架7自由度整车系统同时存在参数摄动和作动器故障情况，运用线性矩阵不等式方法推导和设计最优鲁棒容错控制器。运用所设计的最优鲁棒容错控制器对故障悬架进行被动容错控制研究。分别在正常H_2/H_∞控制器和最优鲁棒容错控制器控制下，既对完好无故障主动悬架7自由度整车进行性能控制对比研究，也对故障悬架进行性能控制对比研究。
（4）针对输出反馈控制的汽车主动悬架7自由度整车出现传感器故障情况，利用自适应理论和线性矩阵不等式方法推导设计传感器故障估计系统。研究汽车主动悬架传感器各类常见故障估计问题。在传感器故障估计系统设计和故障估计基础上，基于信号重构方法对出现传感器故障的汽车故障悬架进行主动容错控制研究。对主动控制下的完好无故障汽车主动悬架与主动容错控制下的故障悬架性能进行仿真对比研究。
（5）针对作动器出现故障的汽车主动悬架7自由度整车，设计一种对路面干扰输入具有干扰抑制作用的鲁棒观测器。通过鲁棒观测器获得汽车主动悬架输出残差实现作动器故障检测与在线辨识研究。在此基础上，基于控制律重组方法设计主动容错控制律，并对作动器出现故障的故障悬架进行主动容错控制研究。也对主动控制下的完好无故障汽车主动悬架与主动容错控制下的故障悬架的性能进行仿真对比研究。
（6）为验证主动容错控制理论研究成果，构建汽车半主动悬架1/4车试验台架。通过试验获取电磁阀式阻尼可调减振器力—速度特性关系数据。在这一试验数据基础上，针对汽车半主动悬架作动器故障情况，基于LabView进行硬件在环主动容错控制试验研究。硬件在环试验中，既对完好无故障汽车半主动悬架进行主动控制试验，也对出现作动器故障的故障悬架进行主动容错控制试验。对主动控制下的完好无故障汽车半主动悬架与主动容错控制下的故障悬架性能进行对比研究。
（7）最后，对全文研究工作与研究成果进行总结。结合研究实践，对下一步深入研究提出研究方向和建议。
With the development of vehicle industry technology and the raise of comsuption level, peoplepay more and more attention to vehicle ride comfortable, operation stability, use reliability andsecurity.Vehicl active suspension system is made up of vehicle suspension and sensors and controllerand actuators. Its performance, such as vehicle ride comfortable and vehicle operation stability etc,can be obviously improved by active control on vehicle active suspension. But in vehicle activesuspension system, some cause from increase use time and fatigue and ageing of component willresult in minuscule variation of system parameters and parameters uncertainty which will affectcontrol robust performance. Once sensor which is major component of signal measure channel andactuator which is major component of control input channel have fault, then those will result in faultcontrol of controller designed under intact condition, even partial or whole forfeit of control effect,so as not to achieve desired effect. In addition, if a controller has fault, then vehicle activesuspension system will emerge disorder phenomenon. All of this will not only affect vehicle ridecomfortable but also affect vehicle operation stability and use reliability and quality.
Considering vehicle active suspension system as object and combining the exiting shortage andproblem of the current vehicle avtive suspension control research which is based on intactcomponent, based on the fault-tolerant control theory and aimed to improvement of controlreliability and use quality and optimization of suspension design methods, the dissertation authorinvestigates technology of fault detection and diagnosis and isolation on vehicle active suspensionwith sensor fault or actuator fault, key technology of fault-tolerant control on vehicle activesuspension system with faults. The main research work of dissertation includes the followingaspects:
(1)Fault actuator model and fault sensor model were built on the basis of in-depth and overallanalysis of their fault probability in vehicle active suspension system.Fault suspension model withsensor fault and fault suspension model with actuator fault were built respectively, and so was faultsuspension model with parameter disturbance and actuator fault simultaneously.
(2)Considering actuator fault of vehicle active suspension system, technology of fault detectionand diagnosis and isolation were researched on vehicle active suspension system based on residualerror information. Considering sensor fault of vehicle active suspension system, firstly, technologyof fault detection and diagnosis and isolation were researched on vehicle active suspension systembased on residual error information. Then, so were fault detection and isolation based on Kalmanfilter groups.
(3)Considering the parameter disturbance and actuator faults of seven-degree-of-freedomvehicle with active suspension system, optimal robust fault-tolerant controller is derived and designed by linear matrix inequality method. Research of passive fault-tolerant control on fullvehicle with fault suspension system is made. Not only performance comparison between the intactseven-degree-of-freedom vehicle with active suspension system and fault suspension under thenormalH_2/H_∞controller is made, but also that under optimal robust fault-tolerant controller ismade too.
(4)By adaptive theory and linear matrix inequality methods, sensor fault estimation system isderived and designed for seven-degree-of-freedom vehicle with output feedback control activesuspension system which sensor break down. The sensor ordinary faults is estimated and studied. Onthe basis of the design of sensor faults estimation system and the estimation of sensor faults activefault-tolerant control on fault suspension system is researched based on sensor signal reconfiguration.Performance comparison between the intact vehicle active suspension system controlled by activecontrol law and fault suspension system controlled by active fault-tolerant control law is made.
(5)Considering seven-degree-of-freedom vehicle with active suspension system whichactuator breaks down, a robust observer is designed to restrain disturb road input. Detection andon-line diagnosis of actuator fault is realized by output residual error obtained from the robustobserver. Base on this, active fault-tolerant control based on control law reconfiguration is designedand active fault-tolerant control is researched for vehicle active suspension system with actuatorfault. Performance comparison between the intact vehicle active suspension system controlled byactive control law and fault suspension system controlled by active fault-tolerant control law is madetoo.
(6)In order to prove the theory result of active fault-tolerant, test bench of quarter vehicle withsemi-active suspension system is constructed. Force-speed performance relational datas of solenoidvalve damper which damper force is adjustable is obtained by test. Base on test datas, hardware-in--the-loop active fault-tolerant control test based on LabView is researched for vehicle semi-activesuspension with actuator fault. In the course of hardware-in-the-loop test, both active control test forintact vehicle semi-active suspension and active fault-tolerant control test for fault suspension withactuator fault is made. Performance comparison between the intact vehicle semi-active suspensionsystem controlled by active control law and fault suspension system controlled by active fault-tolerant control law is made.
(7)In the end, the research work and research achievement of the whole dissertation isconcluded. Besides, combining the practice of research, the area and suggestion that need detailedresearch are poined out.
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