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Reliable fuzzy H_∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

机译：具有动态阻尼的轮毂电机驱动电动汽车主动悬架的可靠模糊H_∞控制

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摘要

A fault-tolerant fuzzy H_∞, control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H_∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.
机译：提出了一种在弹簧质量变化，执行器故障和控制输入约束存在的情况下，轮毂电动汽车主动悬架的容错模糊H_∞控制设计方法。该控制器基于带动态阻尼车轮电动机驱动系统的四分之一车主动悬架模型设计，其中悬架电动机用作动态吸收器。 Takagi-Sugeno（T-S）模糊模型用于对具有可能发生的质量变化的悬架进行建模。部署并行分布补偿（PDC）方案来为T-S模糊悬挂模型导出容错模糊控制器。为了减少由传递给轮内电动机的动力引起的电动机磨损，除了传统的优化目标（如弹簧质量加速度，悬架挠度和执行器饱和度）外，该动力还作为附加的受控输出。所提出控制器的H_∞性能由包含三个等式约束的线性矩阵不等式（LMI）导出，这些约束可通过MATLAB LMI Toolbox有效解决。该控制器应用于电动汽车悬架，并通过计算机仿真验证了其有效性。

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