车辆准零刚度空气悬架系统气气联动机理分析与主动容错控制

With requirement of high performance and electrification for vehicular suspension system, in this proposal we explore a new-type semi-active air suspension with quasi zero stiffness and fault-tolerant control configuration. Firstly, by analyzing the characteristic and pneumatic coupling mechanism between the air spring (positive stiffness) and a pair of pneumatic actuators (negative stiffness), the coupling mechanism of multi-energy domains’ system and relationship with whole vehicle dynamics is obtained for air suspension with quasi zero stiffness, which can establish a multi-physics complex model of air suspension system including dynamics of sensors, actuators and their faults. Then, we can describe the fault-tolerant control system of air suspension with quasi zero stiffness as an implicit mechanism without the dependence of fault diagnosis, and multiple model switching process, so a self-adaptive fault-tolerant control structure with the fault model set, the controller set and the switching mechanism for air suspension system with quasi zero stiffness is proposed. The completed control system is: (a) constructing a base of multiple faults with observers set by using “assumed inherent sensor” and the corresponding Internal Model Controller (IMC) set; (b) real-timely computing the indexes of performance tolerance and model mismatch, and both self-adaptive thresholds of electronically controlled air suspension system; (c) designing the switching function including the instantaneous and past residual information, the best model of dynamic system for air suspension system with quasi zero stiffness is obtained by using fuzzy monitoring mechanism. Research results can provide scientific theoretical analysis foundation and fault-tolerant control system design method for air suspension system, which plays an important role in promoting application of electronically controlled air suspension system.

为满足车辆悬架系统高性能、电动化需求，提出准零刚度半主动空气悬架新构型及容错控制系统。分析空气弹簧（正刚度）与对称气缸（负刚度）输出特性及气气联动规律，揭示准零刚度空气悬架系统多能域耦合机理与车辆动力学关联性，建立不同故障模式、含传感器、执行器动力学特征的空气悬架系统多物理场广义模型。将不同故障特征的准零刚度空气悬架容错控制描述为不依赖于故障定位的隐性机制与多模型切换过程，提出准零刚度空气悬架控制系统“故障模型集、控制器组和切换机制”三位一体的主动容错架构：①构建多故障“内含传感器”逆观测模型库及与之一一映射的内模控制器；②动态计算空气悬架电控系统性能容忍度指标、模型失配度指标及自适应阈值；③设计含瞬时及过去残差信息的切换函数，通过模糊监督机制获取准零刚度空气悬架动态系统的“最佳模型”。研究结果将为空气悬架系统提供科学的理论基础及容错控制设计方法，对推动电控空气悬架系统的应用起重要作用。

本项目针对车辆悬架系统高性能、电动化需求，创新提出了准零刚度半主动空气悬架新构型及容错控制系统。为实现项目研究目标，研究团队在分析准零刚度空气悬架气气联动机理及非线性动力学特性、构建融合执行器动力学的准零刚度空气悬架广义模型、准零刚度半主动空气悬架动力学最优运行及执行器故障模式下容错控制等方面开展了深入研究。匹配设计以“双作用气缸”为作动器的负刚度系统并由此构建准零刚度空气弹簧新构型，完成了负刚度系统与空气弹簧“连通”“非连通”两种模式下动态性能分析模型构建；采用李雅普诺夫第一方法开展准零刚度空气悬架系统平衡点的稳定性分析，通过分岔图和相图对非线性悬架系统的吸引域进行定性的分析，获得了稳定条件下的参数可行域，并由此提出了以参数吸引域稳定为评价指标的准零刚度空气悬架多目标优化方法；建立了不同工况下准零刚度空气悬架负刚度系统最优气压数据集，基于自适应模糊神经网络(ANFIS)系统实现不确定性行驶工况下负刚度系统的气压寻优，并设计了气压跟踪的自抗扰控制控制器；提出了基于多项式混沌展开的准零刚度空气悬架系统不确定模型，考虑参数随机不确定性设计了半主动准零刚度空气悬架H2控制器；建立了准零刚度空气悬架控制系统事件触发网络通讯架构，通过构建T-S模糊控制器模型处理刚度不确定性，设计了考虑事件触发机制的准零刚度空气悬架系统H∞动态输出反馈控制策略，有效减轻了控制系统网络数据传输负担；在执行器故障和外部扰动输入的准零刚度空气悬架系统中引入包含系统输出误差的故障诊断以及故障估计算法，设计基于控制器反馈补偿的容错控制策略，保证了电控系统的可靠性运行。项目研究紧紧围绕准零刚度空气悬架与整车动力学协同主题，开展了一系列深入探索，取得了突破性进展和丰富的研究成果。项目主要研究内容在国内外高水平期刊上发表和录用论文13篇，其中，SCI检索论文7篇，EI检索论文6篇；授权国家发明专利10件、受理国家发明专利1件。此外，培养博士2名，硕士8名。