Fault-tolerant semi-active suspension control for degradation in damper performance

Abstract

Several types of dampers are used in the suspension systems of road vehicles, while the magneto-rheological damper is one of the most efficient solutions to manage the balance between objectives of vehicle suspension control. Various types of failures may occur in magneto-rheological dampers, and these faults may affect adversely the operation of the vehicle suspension system. This paper is concerned with the design of semi-active suspension control with fault-tolerant control reconfiguration through the Linear Parameter-Varying control method. In case of a damper oil leakage affecting the damper force, the proposed control strategy calculates feasible damper forces for the healthy dampers in order to compensate for the lost force of the faulty damper. Unlike other approaches in the literature, this method aims to enhance performances by modifying the force of a healthy damper to the same level as the force of a faulty damper. The simulation has been performed in the TruckSim environment to demonstrate the operation of the proposed fault-tolerant control strategy. The results show that the introduced novel reconfiguration control method improved driving comfort, road holding and vehicle stability.

A Robust Control for a Controllable Suspension System with an Input Time Delay

“…where k s is the nominal value of the suspension stiffness, k s is the perturbation value of the suspension stiffness, and f k (t) is the time-varying perturbation function, | f k (t)|≤ 1 . Then, based on Formulas (1)-( 9), the 2-DOF V-CSS with uncertainty and fault is constructed, as shown in Figure 5. The state variables x(t), output variable z(t), and disturbance input w(t) are defined in Formula (10).…”

“…In order to make the system insensitive to such perturbation uncertainties and faults, a robust fault-tolerant control is needed. Considering this, extensive research has been carried out on topics such as state feedback passive robust fault-tolerant control [6,7], adaptive robust fault-tolerant control [8], sky-hook fault-tolerant control [9], linear variable parameter control (LPV) [10,11], linear variable parameter model predictive control (LPV-MPC) [12], adaptive fault-tolerant control via the T-S fuzzy method [13], H2/H∞ passive robust fault-tolerant control [14], hybrid control of state feedback compensation and nominal state feedback [15], constrained adaptive backstep tracking controllers [16], H∞ passive robust fault-tolerant control based on output feedback [17], adaptive state feedback robust fault-tolerant control [18], and fault-tolerant prescribed performance control [19]. The above-mentioned research has achieved excellent results.…”

“…A time delay can cause the actuator output control force to be out of sync with the control force required by the system, possibly resulting in system instability or performance deterioration [21]. However, the above studies on robust fault-tolerant control of suspension systems do not consider the influence of input time delay [6][7][8][9][10][11][12][13][14][15][16][17][18][19]. Moreover, there is a wealth of existing research on the time delay control of suspension systems, including adaptive backward-step time delay control [21], H∞ state feedback time delay control [22,23], H∞ output feedback time delay control [24], and fuzzy static output feedback (SOF) time delay control based on parallel distributed compensation (PDC) [25].…”

“…In summary, the industry has conducted in-depth studies on fault-tolerant control in V-CSSs [6][7][8][9][10][11][12][13][14][15][16][17][18][19] considering system faults. Time delay control [21][22][23][24][25] explores the effect of a system time delay.…”

“…(2) Unlike previous studies on control methods for V-CSSs with partial consideration of the uncertainty, faults, and input time delay [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25], this study deals with all of the above essential factors, focusing mostly on an adjustable damping suspension system. By introducing the idea of robust control, a time-delay-dependent H∞ state feedback robust control law based on Lyapunov stability theory is designed and transformed into a convex optimization problem of linear matrix inequalities.…”