The invention discloses a stability redundancy method and system for controlling a vehicle provided with a semi-active suspension, and relates to the field of vehicle suspension device configuration. According to the method, when no sensor breaks down, multiple targets such as the accelerated speed of sprung mass, the tire dynamic load and the suspension dynamic deflection are directly optimized through the multi-target mucus algorithm, the optimal feedback gain matrix controlled by the LQR is solved, the damping force needed by the shock absorber is calculated in combination with the Kalman filtering algorithm, and vehicle damping adjustment is achieved; the problem of multi-objective optimization in the control process is solved. When only a displacement sensor breaks down, the expected damping force of the shock absorber is determined based on a Kalman filtering algorithm and a single-sensor hybrid control algorithm, and when part of the sensors fail, the effect of a semi-active suspension can still be achieved; and when the two sensors fail, the 0A state of the current of the electromagnetic valve of the shock absorber is used as an emergency state to realize vehicle control. On the basis, the control efficiency can be improved under the condition that the cost is not increased.
本发明公开一种用于控制配备半主动悬架车辆的稳定性冗余方法和系统,涉及车辆悬架装置配置领域。本发明在无传感器故障时,通过多目标黏菌算法对簧载质量的加速度、轮胎动载荷、悬架动挠度等多个目标进行直接优化,求解出LQR控制的最优反馈增益矩阵,结合卡尔曼滤波算法计算出减振器所需阻尼力,实现车辆阻尼调节,解决控制过程中多目标优化的问题。在仅有位移传感器故障时,基于卡尔曼滤波算法和单传感器混合控制算法确定减振器的期望阻尼力,在部分传感器失效时,依旧能够发挥半主动悬架作用;在两个传感器均故障时,使用减振器电磁阀电流的0A状态作为应急状态实现车辆控制。基于此,本发明能够在不增加成本的条件下,提高控制效率。
Stability redundancy method and system for controlling vehicle equipped with semi-active suspension
用于控制配备半主动悬架车辆的稳定性冗余方法和系统
2024-02-06
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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