Compared with other components, actuator fault has a higher probability of occurrence in semi-active suspension with magneto-rheological (MR) damper, which will lead to the safety and reliability of the system. Hence, the fault diagnosis and fault-tolerant methods of semi-active vehicle suspension system with MR damper are investigated in this paper to deal with the fault of MR damper. Firstly, the quarter-vehicle suspension system model is established. Secondly, an unknown input observer (UIO) with strong robustness and simple structure is employed to detect the fault of MR damper; meanwhile, the correlation coefficient method based on the system residuals is used to isolate the fault of MR damper. Lastly, the skyhook fault-tolerant controller (FTC) is designed to compensate the system with fault application. The simulation results under sine excitation, random excitation and bump excitation show that the performance of the proposed FTC always outweigh that of without fault-tolerant when MR damper occurs fault.

与其他组件相比，在带有磁流变（MR）阻尼器的半主动悬架中，执行器故障发生的可能性更高，这将导致系统的安全性和可靠性。因此，针对MR阻尼器的半主动车辆悬架系统的故障诊断和容错方法进行了研究。首先，建立了四分之一车辆悬架系统模型。其次，采用鲁棒性强，结构简单的未知输入观测器（UIO）检测MR阻尼器的故障。同时，基于系统残差的相关系数法用于隔离MR阻尼器的故障。最后，天钩容错控制器（FTC）旨在通过应用故障来补偿系统。