LPV/Hinf∞ Fault tolerant control for automotive semi-active suspensions using roll and pitch monitoring information
Résumé
This paper is concerned with an innovative LPV/H∞ fault tolerant control (Linear Varying Parameters) strategy that aims to manage the suspensions dampers failures or malfunctions. Indeed, the vehicle vertical dynamics are mainly affected by the suspension system conditions. The failure of one of the suspensions dampers can cause huge load transfers in the dynamical behaviour of the car. The increasing roll (left/right bounce) and pitch (front/ rear bounce) can lead to the vehicle instability and to the loss of manoeuvrability during dangerous driving situations. The main idea of this paper is to use a smart monitoring strategy based on the supervision of the roll and pitch dynamics, considering a healthy vehicle behaviour as a reference, to detect the dampers failures. Indeed, taking into account the magnitude and the sign of each one of the roll and pitch dynamics, the localisation of the faulty damper may be possible. Then, this information is used to generate the varying parameters that allow designing the LPV/H∞ fault tolerant robust controllers. The LPV framework will allow reconfiguring the multivariable suspension robust controllers and allocating the accurate suspensions efforts in the four corners of the car, to compensate the loss or lack of the force provided by the faulty damper. This control allocation through the LPV control structure is very interesting since it changes smoothly and progressively, depending on the state of the faulty dampers and it will ensure the vehicle stability by using an online suspension control reconfiguration. Simulations are achieved on a nonlinear full vehicle model validated by experimental procedure on a real vehicle (Reanult Mégane Coupé) in MIPS (Mulhouse control system laboratory, France).
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