面向广义功能安全考虑阻尼力损失和预瞄感知偏差的智能悬架容错控制

doi:10.3901/JME.260212

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 71-84.doi: 10.3901/JME.260212

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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面向广义功能安全考虑阻尼力损失和预瞄感知偏差的智能悬架容错控制

汪洪波, 陈无畏, 付志伟, 孙海涛

合肥工业大学汽车与交通工程学院合肥 230009

收稿日期:2025-05-10 修回日期:2025-11-06 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:汪洪波,男,1981年出生,博士,教授,硕士研究生导师。主要研究方向为智能汽车动力学及控制,电动汽车控制技术,复杂机电系统建模与控制。E-mail:bob.627@163.com;陈无畏(通信作者),男,1951年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制、自动驾驶技术。E-mail:hfgdcjs@126.com.
基金资助:
国家自然科学基金资助项目(U22A20246,52372382)。

Intelligent Suspension Fault-tolerant Control Considering Damping Force Loss and Preview Perception Deviation for Generalized Functional Safety

WANG Hongbo, CHEN Wuwei, FU Zhiwei, SUN Haitao

School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009

Received:2025-05-10 Revised:2025-11-06 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 执行器阻尼特性分析和前方路面准确预瞄，对智能悬架控制设计十分关键。面向广义功能安全，提出考虑减振器阻尼力损失和预瞄感知偏差的智能悬架模型预测控制。在建立半车悬架动力学模型基础上，结合电磁阀式减振器自身特性，分析电磁阀线圈温度变化对于减振器性能的影响，获得电磁阀式减振器阻尼力衰减模型。基于增广卡尔曼滤波根据车辆动力学响应进行前方路面高程估计，生成路面激励冗余信息；设计预瞄信息修正策略对路面高程检测偏差进行修正，并结合减振器阻尼力衰减模型构建面向广义功能安全的智能悬架容错控制策略。通过仿真和实车试验，结果表明所提出的智能悬架容错策略能对减振器阻尼力损失进行补偿，显著降低路面高程检测偏差带来的不利影响，提高广义功能安全下的智能悬架容错控制性能，保障智能车辆安全行驶。

关键词: 智能悬架, 广义功能安全, 阻尼力损失, 预瞄偏差, 容错控制

Abstract: The analysis of actuator damping characteristics and accurate preview of the road ahead are crucial for the design of intelligent suspension control. Focusing on generalized functional safety, an intelligent suspension model predictive control considering damping force loss of the damper and preview perception deviation is proposed. A half-vehicle suspension dynamics model is built. Based on the characteristics of the electromagnetic valve damper, the impact of temperature changes in the electromagnetic valve coil on the damper performance is analyzed, and a damping force attenuation model for the electromagnetic valve damper is obtained. Based on augmented Kalman filtering, the elevation of the road ahead is estimated based on vehicle dynamics response to generate redundant information for road excitation. A preview information correction strategy is designed to correct the deviation of road elevation detection, and it is combined with the damping force attenuation model of the damper to construct an intelligent suspension fault-tolerant control strategy considering generalized functional safety. Through simulation and real vehicle test, the results show that the proposed intelligent suspension fault-tolerant strategy can compensate for the damping force loss of the damper, significantly reduce the adverse effects of road elevation detection deviation, and improve the fault-tolerant control performance of intelligent suspension for generalized functional safety, so as to guarantee the driving safety of intelligent vehicle.

Key words: intelligent suspension, generalized functional safety, damping force loss, preview deviation, fault-tolerant control

中图分类号:

U461

汪洪波, 陈无畏, 付志伟, 孙海涛. 面向广义功能安全考虑阻尼力损失和预瞄感知偏差的智能悬架容错控制[J]. 机械工程学报, 2026, 62(8): 71-84.

WANG Hongbo, CHEN Wuwei, FU Zhiwei, SUN Haitao. Intelligent Suspension Fault-tolerant Control Considering Damping Force Loss and Preview Perception Deviation for Generalized Functional Safety[J]. Journal of Mechanical Engineering, 2026, 62(8): 71-84.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I8/71

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面向广义功能安全考虑阻尼力损失和预瞄感知偏差的智能悬架容错控制

Intelligent Suspension Fault-tolerant Control Considering Damping Force Loss and Preview Perception Deviation for Generalized Functional Safety

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