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首页> 外文期刊>Mechatronics: The Science of Intelligent Machines >A novel semi-active control strategy based on the quantitative feedback theory for a vehicle suspension system with magneto-rheological damper saturation
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A novel semi-active control strategy based on the quantitative feedback theory for a vehicle suspension system with magneto-rheological damper saturation

机译：一种新型半主动控制策略，基于磁流变阻尼器饱和的车辆悬架系统定量反馈理论

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This paper presents a robust controller for a semi-active suspension system with actuator saturation. It addresses the vehicle vibration attenuation problem under two cases: (i) without actuator fault (magneto-rheological (MR) damper) and (ii) with base oil leakage in MR damper. The solution is obtained using the quantitative feedback theory (QFT) design. The actuator (MR damper) dynamics is well approximated by a first order model with an uncertain time constant. The superior performance of the proposed QFT controller, for fault free case, is compared with the sky-hook, H control and passive suspension in time as well as in frequency domains. To address the system with faulty MR damper, a multiple model approach based QFT design is then proposed. The multiplicative type fault is considered as an MR damper fault and the faulty damper output delivering capability is then reduced by 80% to 75% due to the oil leakage in the damper. The proposed idea is centered on dividing the large uncertain system into a set of small uncertain linear system and then design the QFT controller corresponding to each of the generated linear models. The global controller is formulated by aggregating the local controller with the gap metric based weights. This new approach produces the similar performance as that of the passive fault tolerant control (FTC)-QFT design with less control effort. Extensive comparative simulations are provided to show the efficacy of the proposed method over passive FTC-QFT, passive FTC-IL. design and sky hook control.
机译：本文为具有致动器饱和度的半主动悬架系统提供了坚固的控制器。它在两种情况下解决了车辆振动衰减问题：（i）没有执行器故障（磁流变（MR）阻尼器）和（II）在MR阻尼器中的基础油泄漏。使用定量反馈理论（QFT）设计获得解决方案。致动器（MR DABPER）动态由具有不确定时间常数的第一阶模型很好地近似。建议QFT控制器的卓越性能，无故障情况下，与天钩，H控制和被​​动悬架及时以及频率畴相比。为了解决MR Damper故障的系统，提出了一种基于多模型方法的QFT设计。由于阻尼器中的漏油，乘法型故障被认为是MR阻尼器故障，并且由于阻尼器中的漏油，则故障阻尼器输出能力减少了80％至75％。该建议的想法是以划分大型不确定系统的一组小不确定线性系统为中心，然后设计对应于每个生成的线性模型的QFT控制器。通过使用基于间隙度量的权重聚合本地控制器来配制全局控制器。这种新方法产生了类似的性能与无源容错控制（FTC）-QET设计的性能相似。提供了广泛的比较模拟，以显示所提出的方法在无源FTC-QFT，被动FTC-IL上的效果。设计和天空挂钩控制。

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