طراحی کنترل کننده مد لغزشی مقاوم- تطبیقی با‌ تحمل عیب برای سیستم تعلیق فعال مدل یک دوم خودرو

نوع مقاله : مقاله پژوهشی

نویسندگان

• حسن زرآبادی پور ¹
• مهدی فرهنگ رنجبر ²

¹ گروه مهندسی برق کنترل، دانشکده فنی مهندسی، دانشگاه بین المللی امام خمینی(ره)، قزوین، ایران

² گروه مهندسی برق کنترل،دانشکده فنی و مهندسی، دانشگاه بین المللی امام خمینی، قزوین،ایران

10.22067/jacsm.2022.71589.1043

چکیده

راحتی سرنشینان خودرو یکی از موارد بسیار مهم در حین رانندگی می‌باشد، از این جهت سیستم تعلیق نقش به سزایی در برآورده شدن این امر دارد. برای بررسی این موضوع در این پژوهش طراحی سیستم کنترل تحمل پذیر عیب برای سیستم تعلیق فعال مدل یک دوم خودرو انجام گرفته است. در این مقاله هدف، طراحی کنترل کننده مدلغزشی مقاوم-تطبیقی جهت پایدار سازی سیستم تعلیق خودرو و همگرایی پاسخ خروجی به پاسخ مطلوب می باشد. به این منظور، ابتدا مدل سیستم تعلیق یک دوم خودرو در حضور عیب‌های عملگر، سنسور، عدم قطعیت‌های مدل سازی و نیز اغتشاشات محدود خارجی در نظر گرفته شده است. سپس، با فرض عدم اطلاع از باند بالای ترم شامل عیب های سیستم و اغتشاشات، به طراحی قانون کنترل تحمل پذیر خطا پرداخته شده تا پاسخ خروجی سیستم در مقابل هر گونه عیب ناگهانی به مقدار مطلوب (پایدار) همگرا شده و همچنین خروجی مسیر مطلوبی را دنبال کند.

کلیدواژه‌ها

• سیستم تعلیق
• مدل یک دوم خودرو
• کنترل مدلغزشی مقاوم-تطبیقی
• عدم قطعیت

موضوعات

• کنترل

---

عنوان مقاله [English]

Robust-Adaptive Sliding Mode Controller Design with Fault tolerance for Active Suspension of Half-car model

نویسندگان [English]

• hassan zarabadipour ¹
• mahdi farhangranjbar ²

¹ Department of Electrical Control Engineering, Faculty of Engineering, Imam Khomeini International University, Qazvin, Iran

² Department of Electrical Control Engineering, Faculty of Engineering, Imam Khomeini International University, Qazvin, Iran

چکیده [English]

The comfort of car passengers is one of the most important issues while driving, therefore the suspension system plays a significant role in this matter. To investigate this issue, in this research, the design of a fault-tolerant control system for the active suspension system of the one half- car model has been considered. In this article, the goal is to design a robust-adaptive sliding mode controller to stabilize the vehicle suspension system and converge the output response to the desired response. For this purpose, firstly, the model of the suspension system of the one half of the car is considered in the presence of actuator, sensor, modeling uncertainties and limited external disturbances. Then, with the assumption of not knowing the upper band of the term, including system faults and disturbances, the error tolerant control law has been designed so that the output response of the system in front of any sudden fault converges to the desired(stable) value and also the output of a desired path.

کلیدواژه‌ها [English]

• Suspension
• Half- car model
• Robust-adaptive Sliding mode control
• uncertainty

مراجع

1. Gillespie,TD., " Fundumental of Vehicle Dynamic", SAE International, (1992).
2. Rahi, A., Pataft, H. and Nazari, M.M., " Optimization of Car Suspension System Using Genetic Algorithm" , Proceeding of the 27^th International conference of Mechanical Engineer ,Tehran, Iran, (2019), (In Persian).
3. Pedro, J.O., Baloyi, N., "Design of Direct Adaptive Controller for a Half-Car Suspension System ", IEEE Africon, Pp. 467-472, (2017).
4. Shahab, M., Mavenian, M., "Fault Diagnosis based on Model and Dynamic Behavior of Vehicle Suspension System", Amirkabir Journal of Mechanical Engineering, Vol. 52, No.1, Pp27-42, (2020), (In Persian).
5. Velagic, J., Hrusto, A., "Design of Coupled Disturbance Observers for Nonlinear Half-Car Active Suspension System", IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Germany, Pp. 547-552, July 3-7, (2017).
6. Mrazgua, J., Tissir, E. and Ouahi, M., " Fault-Tolerant H∞ Control Approach, Application to Active Half-Vehicle Suspension Systems with Actuators Failure Accounts", IEEE Proceedings of the 8^th International Conference on Systems and Control, Morocco, Marrakesh, Pp. 271-276, October 23-25, (2019).
7. Bagheri, A., Asghari Ganji, A.M., "Robust Control of Electro Rheological Suspension System Based on LMI Approach", Journal of Modeling In Engineering, 18, No. 62, Pp.153-163, Pp.1-9, (2020), (In Persian).
8. Shtessel,Y., Edward, C., Friedman, L. and Levang, A., "Sliding Mode Control and Observation" , Springe, New York, ( 2014).
9. Veici, M., Soltanpour, M. R., "Design and Simulation of the Fuzzy Sliding Mode Control of the Angular Position of the Warship Roll in the Presence of Structure Uncertainties and External Disturbances Caused by Sea Waves ", Marine Science and Technology Sea, Vol. 23, No. 93, (2019), (In Persian).
10. Hu, R., Deng, H. and Zhang, Y., "Novel dynamic-sliding-mode-manifold-based continuous fractional-order nonsingular terminal sliding mode control for a class of second-order nonlinear systems", IEEE, 22 January, (2020).
11. Nourisola, H., Ahmadi, B., Azizi., A. and Rikhtegare Giasi, A., "Robust Magnetic Levitation Using Feed Back Linearization Back-Stepping and Nonlinear Disturbance Observer", Journal of Modeling In Engineering , Vol.15, No. 49, Pp. 29-38, (2017), (In Persian).
12. Abbasi, A., Sadat aghaamo, S., "Designing L1 Adaptive Control for Stabilizing Chaotic Systems with Uncertainty in the Model", Journal of Modeling In Engineering, Vol.16, No.52, Pp. 171-178, (2018), (In Persian).
13. Esmailzadeh, E., Batenj, H., "Optimal active vehicle suspensions with full state feedback control", SAE Transactions Journal of Commercial Vehicles, (1992).
14. Hac, A., Youn, I., " Optimal Design of Active and simi-Active Suspension Including Time Delay and Preview", Asme Journal of Dynamic Systems m.& C, Vol. 115, Pp. 498-508, (1993).
15. Li,W.Xie., Z. Xie. And Zhao, J.," Static-Output-Feedback Based Robust Fuzzy Wheelbase Preview Control for Uncertain Active Suspensions with Time Delay and Finite Frequency Constraint", IEEE/CAA Journal of Automatica Sinica, Vol. 8, NO. 3, Pp. 664 – 678, March, (2021).
16. Li, Y., Chen, H., " Adaptive Sliding Mode Control for Uncertain Active Suspension Systems with Prescribed Performance", IEEE Transactions on Systems, Man, and Cybernetics Systems, Vol. 51, Issue. 10, Pp. 6414 – 6422, October, (2021).
17. Abdolahifar, A., Foladivanda, M. and Saranjam, B., "Analysis and Simulation of the Dynamic Behavior of a Quarter and Half Model with Passive Suspension System ," Proceeding of the 4th  National  Conference and 2^th  International Conference of the Applied in Engineering, Mechanics, Mechatronics, Theran, Iran, (2016), (In Persian). 
18. Walters, R.B., “Hydrraulicc and Elecctro- Hydrraulicc Control Systems”, Elsevier Science, New York, (1991).
19. Kurimoto, M., Yushimura, T, "Active Suspension of Passenger Cars Using Sliding mode Controllers Based on Reduced Models", International Journal of Vehicle Design , Vol. 19, No. 4, Pp. 402-414, (1998).
20. Choi, H., Ahn, C. and Lim, M. Lim. "Dynamic Output-Feedback H∞ Control for Active Half-vehicle Suspension Systems with Time-varying Input Delay”, International Journal of Control, Automation and Systems, 59-68, (2116).
21. Marzbarad, M., Ahmadi, G., Zohor, H. and Hojat, Y., "Stochastic optimal preview control of a vehicle suspension", Journal of Sound and Vibration, 275, No. 3-5, Pp. 973-990, (2004).
22. Yang, U., Fanglai, Z, Fanglai Zhu, Xin Wang, and Xuhui Bu, "Robust Sliding-mode Observer based Sensor Fault Estimation, Actuator Fault Detection and Isolation for Uncertain Nonlinear Systems", International Journal of Control Automation and Systems,13, No. 5, Pp.1-10, (2015).
23. Pang, H., Shan, Y, and Wang, P, " Design of a Sliding Mode Observer-Based Fault Tolerant Controller for Automobile Active Suspensions with Parameter Uncertainties and Sensor Faults", IEEE Access,Vol.8, Pp 186963 – 18697512, ( 2020).
24. Bu, X.W., Wu, X. Yan., Chen, Y. X. and Bai, R. Y., "Design of a Class of New Nonlinear Disturbance Observers based on Tracking Differentiators for Uncertain Dynamic Systems", International Journal of Control Automation and Systems, Vol. 13, No. 3, Pp.1-8, (2015).
25. Han, J. Q., Wang, W., " Nonlinear tracking differentiator", Journal of Systems Science and Mathe-matical Sciences, Vol. 14, No. 2, Pp. 177-183, April, (1994).
26. Qi, G. Y., Chen, Z. Q. and Yuan, Z. Z., " New tracking-differentiator design and analysis of its stability and convergence", Journal of Systems Engineering and Electronics, Vol. 15, No. 4, Pp. 780-787, August, (2004).