Fault-tolerant control study of electromagnetic suspension with variable parameter allocation reorganization

Abstract

In order to improve the performance of vehicle electromagnetic active suspension during failure, this paper takes semi-vehicle electromagnetic active suspension as the research object, and takes weighted acceleration (WA), front suspension dynamic travel (FSDT), rear suspension dynamic travel (RSDT), front tire dynamic deformation (FTDD), and rear tire dynamic deformation (RTDD) as the indices for research. A variable parameter allocation reorganization fault-tolerant control is proposed. Firstly, the dynamics model of the electromagnetic active suspension of the semi-vehicle is established. Then, the linear quadratic regulator (LQR) controller and the Kalman observer are designed. Based on this, a variable parameter allocation reorganization method is proposed to select the parameter reorganization of the LQR feedback matrix K for the actuator gain fault. Finally, simulation analysis was carried out using MATLAB/Simulink. The front suspension actuator gain fault and the rear suspension actuator gain fault were simulated, respectively, and the passive suspension, active control in fault-free state, active control in fault state, and fault-tolerant control in fault state were comparatively analyzed under random road surface. The results show that when the front suspension actuator gains fault, the weighted acceleration of the fault-tolerant control improves by 15.55%, the weighted acceleration of the fault-tolerant control improves by 14.14% when the rear suspension actuator gains fault is present, both of them are very close to the 16.29% of the no-fault case; under this premise, there is no significant difference between the front suspension dynamic travel, the rear suspension dynamic travel, the front tire dynamic deformation, and the rear tire dynamic deformation. Finally, the effectiveness of the proposed method is further verified by semi-vehicle suspension experimental equipment.