Fault tolerant control with additive compensation for faults in an automotive damper?

Abstract

A novel Fault-Tolerant Controller is proposed for an automotive suspension system based on a Quarter of Vehicle (QoV) model. The design is divided in a robust Linear Parameter-Varying controller used to isolate vibrations from external disturbances and in a compensation mechanism used to accommodate actuator faults. The compensation mechanism is based on a robust fault detection and estimation scheme that reconstructs a fault on the semi-active damper; this information is used to reduce the failure effect into the vertical dynamics to achieve good control performances. Validations have been made over a QoV model in CarSim TM. Results show the effectiveness of the faulttolerant semi-active damper versus an uncontrolled damper; the improvement is 50.4% in comfort and 42.4% in road holding, by avoiding biases in the damper deflection.

Fault tolerant strategy for semi-active suspensions with LPV accommodation?

“…This optimization problem guaranties that r 1 is receptive to the fault, maximizing the effect of the fault F δ1 and minimizing the effect of the others, [9], [13]. Similarly, the approach is implemented into the other three corners.…”

“…Both proposals lead to interesting results for a full vehicle but they are developed for active suspensions without actuator constraints. For semiactive suspensions, the authors have proposed in [9] an active FTC (LPV-based) for additive actuator faults in a Quarter of Vehicle (QoV) model. The reconfiguration depends on the fault estimation, but a saturation constraint is needed.…”

“…As an extension of [9], this paper proposes an active FTC for a full vehicle semi-active suspension, when one of the dampers suffers an oil leakage (multiplicative actuator fault). The main contribution is the development of a new 2-level reconfiguration strategy that compensates a damper leakage by using the healthy dampers; because the force is inherently limited by the shock absorbers, an LPV control design includes a saturation constraint on the compensation force used to the fault accommodation.…”

Control Tolerante a Fallas en una Suspensión Automotriz Semi-Activa

“…El sistema FTC propuesto es implementado en una suspensión semi-activa de un modelo de cuarto de vehículo (QoV por sus siglas en inglés, Quarter of Vehicle), cuyo diseño está compuesto por tres módulos: (1) un módulo FDD basado en ecuaciones de paridad para estimar la falla en línea con robustez a dinámicas no modeladas, (2) un controlador LPV con desempeño robusto a incertidumbres del modelo y perturbaciones de camino y, (3) el sistema de reconfiguración por compensación que utiliza la falla estimada para calcular la corriente eléctrica necesaria para mitigar el efecto de la falla en la dinámica vertical del modelo QoV. Este trabajo es una extensión de (Tudón-Martínez et al, 2013a), resaltando el beneficio de implementar un FTC activo en comparación con su versión Aceleración vertical de m s , m us pasiva a través de diversas pruebas de evaluación en CarSim TM . La estructura de este artículo es la siguiente: a continuación se presenta el planteamiento del problema.…”

Fault estimation methods for semi-active suspension systems

“…However, the SA damper nonlinearities are not considered nor model uncertainties. Also, in [4] a robust fault estimator based on the parity space method is proposed. The residual is designed to minimize the sensitivity to uncertainties, while maximizing the sensitivity to damper faults.…”