中文摘要：

针对汽车半主动悬架作动器故障对整车乘坐舒适性的影响,提出了一种基于故障补偿的主动容错控制策略。建立了半主动悬架7自由度整车模型和作动器故障悬架模型,设计H_∞控制器作为半主动悬架常规控制器。基于故障诊断观测器提出了作动器在线故障估计算法,由完好作动器补偿单一作动器故障的阻尼力损失,通过推导并结合半主动悬架阻尼力的有界性,得出容错控制下各完好作动器的补偿阻尼力。在作动器常见故障模式下进行了仿真和台架试验验证,结果表明：提出的在线故障估计算法可有效估计作动器常见故障的幅值,并在补偿容错控制下,使故障悬架性能经短暂时滞后恢复至与正常悬架性能相接近的水平。

英文摘要：

Aiming at the effects of actuator’s faults of semi-active suspension on the ride comfort of vehicle,an active fault-tolerant control strategy is proposed based on fault compensation. A 7 DOF vehicle model with a semi-active suspension with fault actuator are built and a controller is designed as the conventional controller for semi-active suspension. An on-line fault estimation algorithm is put forward based on fault diagnosis observer,the inadequate damping force in fault actuator is compensated by normal actuators,and by derivation with consideration of the boundedness of damping force in semi-active suspension,the compensated damping force for each normal actuator under fault tolerant control are obtained. Both simulation and verification bench tests are conducted under different common fault modes of actuator with a result showing that the online fault estimation algorithm proposed can effectively estimate the amplitude of actuator’s faults,and under active fault-tolerant control the performance of fault suspension can be restored,approaching to the normal one after a short time delay.