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Mechanical Science and Technology for Aerospace Engineering. 2021, (09) Core

Second Order Sliding Mode Fault Tolerant Control of Active Suspension SystemsChinese Full Text

SUN Jinwei;LIU Qiu;GU Liang;School of Vehicle Engineering,Xi’an Aeronautical University;School of Mechanical Engineering,Beijing Institute of Technology;

Abstract: To improve the vibration performance of active suspension systems subject to actuator faults and disturbances, a terminal sliding mode and super twisting sliding mode-based fault tolerant controller was presented. Firstly, a 7-DOF suspension model and a nonlinear hydraulic actuator model were built for accurate control. The 3-DOF subsystem representing sprung mass motions was considered as the internal dynamics of the suspension system, and the subsystem with 4-DOF including unsprung masses, hydraulic actuators and external disturbances was considered as the external dynamics of the system. Then the proposed controller was implemented in two stages to provide a fault tolerant approach. A nonsingular fast terminal sliding mode based sliding manifold was designed for the internal system to suppress the sprung mass motions arising from road disturbances, and a super twisting algorithm was introduced for the external system to track the desired forces generated by the terminal sliding mode controller. Moreover, the stability of the controller was proved by the strong Lyapunov functions. Simulation results indicate that compared with traditional H∞approach, the proposed controller can achieve better performance under both faulty and healthy conditions.
Keywords：

active suspension; actuator fault; second order sliding mode; terminal sliding mode;

  • DOI：

    10.13433/j.cnki.1003-8728.20200219

  • Series：

    (C) Architecture/ Energy/ Traffic/ Electromechanics, etc

  • Subject：

    Vehicle Industry

  • Classification Code：

    U463.33

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