Fault Tolerant Control in a Semi-Active Automotive Suspension

Juan C. Tudón-Martínez, Sébastien Varrier, Ruben Morales-Menendez, Olivier Sename

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

© 2015 CEA. Publicado por Elsevier España, S.L.U. Este es un artículo Open Access bajo la licencia CC BY-NC-ND. A new active Fault Tolerant Controller (FTC) is proposed for an automotive semi-active suspension, by considering a quarter of vehicle model. The design is composed by: (1) a robust non-linear controller used to isolate vibrations into the vehicle caused by external disturbances and (2) a mechanism of compensation used to accommodate additive faults in the damping force. The compensation mechanism uses a robust fault detector, based on parity space, to estimate the fault; this information allows the computation of the compensation signal by using the inverse dynamics of a damper model to reduce the fault effect into the vertical dynamics of the suspension. The non-linear controller, based on the Linear Parameter-Varying (LPV) control theory, is designed to increase the passengers comfort and ensure the wheel-road contact. When a fault occurs in the damping force, the active FTC must hold the performances of comfort and road holding by using the interaction between the LPV controller and the compensatory module. Simulation results in CarSimTM show the effectiveness of the proposed active FTC versus a passive FTC and an uncontrolled damper; the passive FTC needs to include all faults into its design for having a good fault-tolerant capability, while the proposed active FTC improves a 50.4% in comfort and 42.4% in road holding when a fault occurs, in contrast with the uncontrolled damper that loses completely its effectiveness.
Original languageEnglish
Pages (from-to)56-66
Number of pages11
JournalRIAI - Revista Iberoamericana de Automatica e Informatica Industrial
DOIs
Publication statusPublished - 1 Jan 2016
Externally publishedYes

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Active suspension systems
Controllers
Damping
Control theory
Wheels
Detectors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

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title = "Fault Tolerant Control in a Semi-Active Automotive Suspension",
abstract = "{\circledC} 2015 CEA. Publicado por Elsevier Espa{\~n}a, S.L.U. Este es un art{\'i}culo Open Access bajo la licencia CC BY-NC-ND. A new active Fault Tolerant Controller (FTC) is proposed for an automotive semi-active suspension, by considering a quarter of vehicle model. The design is composed by: (1) a robust non-linear controller used to isolate vibrations into the vehicle caused by external disturbances and (2) a mechanism of compensation used to accommodate additive faults in the damping force. The compensation mechanism uses a robust fault detector, based on parity space, to estimate the fault; this information allows the computation of the compensation signal by using the inverse dynamics of a damper model to reduce the fault effect into the vertical dynamics of the suspension. The non-linear controller, based on the Linear Parameter-Varying (LPV) control theory, is designed to increase the passengers comfort and ensure the wheel-road contact. When a fault occurs in the damping force, the active FTC must hold the performances of comfort and road holding by using the interaction between the LPV controller and the compensatory module. Simulation results in CarSimTM show the effectiveness of the proposed active FTC versus a passive FTC and an uncontrolled damper; the passive FTC needs to include all faults into its design for having a good fault-tolerant capability, while the proposed active FTC improves a 50.4{\%} in comfort and 42.4{\%} in road holding when a fault occurs, in contrast with the uncontrolled damper that loses completely its effectiveness.",
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Fault Tolerant Control in a Semi-Active Automotive Suspension. / Tudón-Martínez, Juan C.; Varrier, Sébastien; Morales-Menendez, Ruben; Sename, Olivier.

In: RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 01.01.2016, p. 56-66.

Research output: Contribution to journalArticle

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AU - Tudón-Martínez, Juan C.

AU - Varrier, Sébastien

AU - Morales-Menendez, Ruben

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N2 - © 2015 CEA. Publicado por Elsevier España, S.L.U. Este es un artículo Open Access bajo la licencia CC BY-NC-ND. A new active Fault Tolerant Controller (FTC) is proposed for an automotive semi-active suspension, by considering a quarter of vehicle model. The design is composed by: (1) a robust non-linear controller used to isolate vibrations into the vehicle caused by external disturbances and (2) a mechanism of compensation used to accommodate additive faults in the damping force. The compensation mechanism uses a robust fault detector, based on parity space, to estimate the fault; this information allows the computation of the compensation signal by using the inverse dynamics of a damper model to reduce the fault effect into the vertical dynamics of the suspension. The non-linear controller, based on the Linear Parameter-Varying (LPV) control theory, is designed to increase the passengers comfort and ensure the wheel-road contact. When a fault occurs in the damping force, the active FTC must hold the performances of comfort and road holding by using the interaction between the LPV controller and the compensatory module. Simulation results in CarSimTM show the effectiveness of the proposed active FTC versus a passive FTC and an uncontrolled damper; the passive FTC needs to include all faults into its design for having a good fault-tolerant capability, while the proposed active FTC improves a 50.4% in comfort and 42.4% in road holding when a fault occurs, in contrast with the uncontrolled damper that loses completely its effectiveness.

AB - © 2015 CEA. Publicado por Elsevier España, S.L.U. Este es un artículo Open Access bajo la licencia CC BY-NC-ND. A new active Fault Tolerant Controller (FTC) is proposed for an automotive semi-active suspension, by considering a quarter of vehicle model. The design is composed by: (1) a robust non-linear controller used to isolate vibrations into the vehicle caused by external disturbances and (2) a mechanism of compensation used to accommodate additive faults in the damping force. The compensation mechanism uses a robust fault detector, based on parity space, to estimate the fault; this information allows the computation of the compensation signal by using the inverse dynamics of a damper model to reduce the fault effect into the vertical dynamics of the suspension. The non-linear controller, based on the Linear Parameter-Varying (LPV) control theory, is designed to increase the passengers comfort and ensure the wheel-road contact. When a fault occurs in the damping force, the active FTC must hold the performances of comfort and road holding by using the interaction between the LPV controller and the compensatory module. Simulation results in CarSimTM show the effectiveness of the proposed active FTC versus a passive FTC and an uncontrolled damper; the passive FTC needs to include all faults into its design for having a good fault-tolerant capability, while the proposed active FTC improves a 50.4% in comfort and 42.4% in road holding when a fault occurs, in contrast with the uncontrolled damper that loses completely its effectiveness.

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