Abstract
An integrated fault tolerant controller is proposed for vehicle chassis system. Based on the coupled characteristics of vertical and lateral system, the fault tolerant controller mainly concentrates on the cooperative control of controllable suspension and lateral system with external disturbances and actuator faults. A nine-DOF coupled model is developed for fault reconstruction and accurate control. Firstly, a fault reconstruction mechanism based on sliding mode is introduced; when the sliding mode achieves, actuator fault signals can be observed exactly through selecting appropriate gain matrix and equivalent output injection term. Secondly, an active suspension controller, a roll moment controller and a stability controller is developed respectively; the integrated control strategy is applied to the system under different driving conditions: when the car is traveling straightly, the main purpose of the integrated strategy is to improve the vertical performance; the lateral controller including roll moment control and stability control will be triggered when there is a steering angle input. Simulations experiments verify the performance enhancement and stability of the proposed controller under three different driving conditions.
Highlights
The performances of vehicles are influenced by the chassis system
This study presented a fault observer-based hierarchical integrated control algorithm to process the actuator faults and coupling properties of vehicle chassis model
A hierarchical integrated control mechanism was proposed for the integrated model to improve the chassis performance with interferences and failures
Summary
The performances of vehicles are influenced by the chassis system. Active control technology can effectively improve the riding comfort, maneuvering stability and safety characteristic of vehicles by using a variety of advanced control algorithms, such as controllable suspension system,[1,2] steering control systems,[3,4] electronic stability program,[5] etc. The control variables of the integrated system include the additional yaw moment generated by the electronic stability control system and the active suspension force, which can be written as. To estimate fault signals exactly in the presence of interferences, assume that sliding motion in 3.1 has achieved, by selecting appropriate output injection term veq and the gain matrix L0, the impact of disturbances on the fault reconstruction can be minimized. + AT0 P \ 0 is L0 = PÀ111P121, sPa0ti=sfieTdÀPa2n2dÀkPG^T1ð2sPÞÀ1k114Pg12,ÁTanTd. To improve system stability and achieve desirable suspension performance, a quantization based sliding mode controller is utilized. When the car travels straightly, the active suspension controller generates active control force to minimizing sprung mass motion; the roll moment controller and ESP controller do not work. One DYC actuator is analyzed here, and the considered faults are defined as follows:
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