The invention provides a vehicle suspension system fault tolerance control method based on a dynamic event triggering mechanism, and the method comprises the steps: firstly, providing a vehicle suspension system model based on multiple agents for four suspension systems of a vehicle; in order to improve the vibration damping performance of the vehicle, a virtual leader is designed in the center of the vehicle suspension system. The road information stored in the cloud server is used as the input of a virtual leader, and the driving performance of an actual vehicle is optimized by controlling the four suspension systems. In consideration of possible actuator faults, a fault-tolerant control scheme is provided, an augmented system is established, and the influence of the faults on system performance is eliminated. Meanwhile, in order to save communication resources between the suspension systems, a dynamic event triggering mechanism is established, a Lyapunov-Krasovskill functional method is utilized, a controller gain matrix is obtained, the vehicle suspension systems are controlled, impact force transmitted to a vehicle body from an uneven road surface is actively buffered, and it is guaranteed that the vehicle runs smoothly.
本发明提供一种基于动态事件触发机制的车辆悬挂系统故障容错控制方法,首先针对车辆的四个悬挂系统,提出了一种基于多智能体的车辆悬挂系统模型。为了提高车辆减振性能,在车辆悬挂系统的中心设计了一个虚拟领导者。将存储在云服务器中的道路信息作为虚拟领导者的输入,通过控制四个悬挂系统,优化实际车辆的驾驶性能。考虑到可能存在的执行器故障,提出了故障容错控制方案,建立增广系统,消除了故障对于系统性能的影响。同时,为了节省悬挂系统间的通信资源,建立动态事件触发机制,利用Lyapunov‑Krasovskill泛函方法,获取控制器增益矩阵,控制车辆悬挂系统,主动缓冲由不平路面传给车身的冲击力,保证汽车平顺地行驶。
Vehicle suspension system fault tolerance control method based on dynamic event triggering mechanism
基于动态事件触发机制的车辆悬挂系统故障容错控制方法
26.07.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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