汽车主动悬架系统执行器故障分层容错控制策略

doi:10.3901/JME.260215

机械工程学报 ›› 2026, Vol. 62 ›› Issue (8): 85-99.doi: 10.3901/JME.260215

• 特邀专辑：汽车线控底盘 • 上一篇下一篇

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汽车主动悬架系统执行器故障分层容错控制策略

王子^1,2, 白先旭^1,2, 李捷^1,2, 孙骏^1,2

1. 合肥工业大学汽车与交通工程学院合肥 230009;
2. 合肥工业大学车辆自适应结构与智能系统实验室合肥 230009

收稿日期:2025-05-09 修回日期:2025-11-10 出版日期:2026-04-20 发布日期:2026-06-12
作者简介:王子,男,2002年出生,博士研究生。主要研究方向为汽车悬架系统动力学与控制。E-mail:2023111447@mail.hfut.edu.cn;李捷(通信作者),男,1996年出生,博士,讲师,硕士研究生导师。主要研究方向为汽车动力学与控制、车路协同节能驾驶控制。E-mail:jelly_961@hfut.edu.cn
基金资助:
国家自然科学基金(52272392);安徽省重大产业创新计划(AHZDCYCX-CX2024-02);合肥工业大学青年教师科研创新启动专项(JZ2025HGQA0114)资助项目。

Hierarchical Fault-tolerant Control Strategy for Actuator Failures in Automotive Active Suspension Systems

WANG Zi^1,2, BAI Xianxu^1,2, LI Jie^1,2, SUN Jun^1,2

1. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009;
2. Laboratory for Adaptive Structures and Intelligent Systems (LASIS), Hefei University of Technology, Hefei 230009

Received:2025-05-09 Revised:2025-11-10 Online:2026-04-20 Published:2026-06-12

摘要/Abstract

摘要： 针对主动悬架执行器发生故障，导致车辆在复杂工况下失稳风险增加的问题，提出一种主动悬架分层容错控制策略。所提策略以维持车身姿态稳定为核心目标，由车身层、力分配层和执行层构成：车身层基于车辆状态解算车身控制力需求，力分配层基于车身控制力需求分配各悬架的控制力目标，执行层基于控制目标力输出悬架控制力指令。首先设计故障诊断观测器，监测悬架执行器的健康状态；然后基于观测结果进行容错控制：多执行器部分失效工况下，设计动态主动力分配方法，依据观测结果在力分配层修正各悬架的力分配系数；单执行器完全失效工况下，设计三执行器最优容错控制方法，基于剩余悬架执行器的力输出范围，使用最优控制算法求解车身控制力，并在力分配层重构分配矩阵；最后在执行层设计滑模控制器，鲁棒地跟踪各悬架的控制力目标。仿真结果表明，相比于传统容错控制：多悬架执行器部分失效时，动态主动力分配方法降低了故障悬架的作动力，使最大车身垂向位移、俯仰角和侧倾角分别降低28.5%、22.8%和34.2%；单悬架执行器完全失效时，三执行器最优容错控制方法考虑悬架执行器的输出力范围，抑制了车身垂向振动，使最大车身垂向位移和侧倾角分别降低35.9%和38.2%。

关键词: 整车悬架, 执行器故障, 容错控制, 分层控制架构, 最优控制

Abstract: A hierarchical fault-tolerant control strategy for active suspension is proposed to mitigate the increased risk of vehicle instability caused by actuator faults under complex operating conditions. The strategy is concerned on maintaining vehicle body attitude stability and is composed of a vehicle-body layer, a force-distribution layer, and an execution layer. The vehicle-body layer computes the required body control forces based on vehicle states; the force-distribution layer allocates target control forces to individual suspensions according to the body control force requirement; the execution layer issues suspension control commands to realize the prescribed forces. A fault-diagnosis observer is first designed to monitor the health status of the suspension actuators. Fault-tolerant control is then implemented based on the observer outputs. Under multi-actuator partial-failure conditions, a dynamic master-force-distribution method is developed, whereby force allocation coefficients are adjusted in the force-distribution layer according to the diagnostic results. Under single-actuator total-failure conditions, a three-actuator optimal fault-tolerant control method is formulated: vehicle body control forces are solved by an optimal control algorithm subject to the remaining actuators' force output ranges, and the allocation matrix is reconstructed in the force-distribution layer. At the execution layer, sliding-mode controllers are designed to robustly track each suspension's control force target. Simulation results show that, compared with conventional fault-tolerant control, the proposed methods improve vehicle stability: when multiple suspension actuators partially fail, the dynamic master-force-distribution method reduces actuation by the faulty suspensions and decreases the maximum body vertical displacement, pitch angle, and roll angle by 28.5%, 22.8%, and 34.2%, respectively. When a single suspension actuator completely fails, the three-actuator optimal fault-tolerant control method, which accounts for actuator output limits, suppresses body vertical vibration and reduces the maximum body vertical displacement and roll angle by 35.9% and 38.2%, respectively.

Key words: full-vehicle suspension, actuator faults, fault-tolerant control, hierarchical control architecture, optimal control

中图分类号:

U463

王子, 白先旭, 李捷, 孙骏. 汽车主动悬架系统执行器故障分层容错控制策略[J]. 机械工程学报, 2026, 62(8): 85-99.

WANG Zi, BAI Xianxu, LI Jie, SUN Jun. Hierarchical Fault-tolerant Control Strategy for Actuator Failures in Automotive Active Suspension Systems[J]. Journal of Mechanical Engineering, 2026, 62(8): 85-99.

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汽车主动悬架系统执行器故障分层容错控制策略

Hierarchical Fault-tolerant Control Strategy for Actuator Failures in Automotive Active Suspension Systems

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