Active Suspensions Control with Actuator Dynamics

2019 ◽  
pp. 189-217
Author(s):  
Weichao Sun ◽  
Huijun Gao ◽  
Peng Shi
Keyword(s):  
Active Suspensions ◽  
Actuator Dynamics

Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning

2000 ◽  
Vol 124 (1) ◽  
pp. 158-167 ◽  
Author(s):  
Keum-Shik Hong ◽  
Hyun-Chul Sohn ◽  
J. Karl Hedrick
Keyword(s):  
Vertical Acceleration ◽  
Hardware In The Loop ◽  
Active Suspensions ◽  
Actuator Dynamics ◽  
New Model ◽  
The Road ◽  
Macpherson Strut Suspension ◽  
Acceleration Data ◽  
Control Scheme ◽  
Loop Tuning

In this paper, a road adaptive modified skyhook control for the semi-active Macpherson strut suspension system of hydraulic type is investigated. A new control-oriented model, which incorporates the rotational motion of the unsprung mass, is introduced. The control law extends the conventional skyhook-groundhook control scheme and schedules its gains for various road conditions. Using the vertical acceleration data measured, the road conditions are estimated by using the linearized new model developed. Two filters for estimating the absolute velocity of the sprung mass and the relative velocity in the rattle space are also designed. The hydraulic semi-active actuator dynamics are incorporated in the hardware-in-the-loop tuning stage of the control algorithm developed. The optimal gains for the ISO road classes are discussed. Experimental results are included.

Practical Adaptive Robust Controllers for Active Suspensions

2000 ◽  
Author(s):  
Supavut Chantranuwathana ◽  
Huei Peng
Keyword(s):  
Active Suspension ◽  
Suspension System ◽  
Adaptive Robust Control ◽  
Unmodeled Dynamics ◽  
Robust Controllers ◽  
Active Suspensions ◽  
Actuator Dynamics ◽  
First Order ◽  
Force Tracking ◽  
Force Signal

Abstract This paper presents adaptive robust controllers for force tracking application in a quarter-car active suspension system. In previous publications (Chantranuwathana and Peng 1999a, 1999b), an active suspension architecture was presented. The overall active suspension system was decomposed into two loops. At the main-loop, the desired force signal is calculated while the sub-loop force tracking controller tries to keep the actual force close to this desired force. An Adaptive Robust Control (Yao and Tomizuka 1997) design technique was used to achieve good force tracking performance in a robust manner under plant uncertainties. It was found that force-tracking of up to 5Hz can be reliably achieved. It is, however, found to be unreliable in experiments, especially when high frequency disturbances are present. In this paper, we will show that unmodeled dynamics and especially, the delay (first order lag) in implementing the control signal is a main cause of the problem. With this insight, three controller modifications are proposed to reduce the effect of the unmodeled dynamics, 1) include the actuator dynamics in the ARC design, 2) cancellation of the actuator dynamics and 3) online-adaptation of an ARC parameter. A number of simulation results will be presented to show the effect of these remedies. The last two modifications were found to be promising for actual implementations.

Feedback Frameworks for Active Suspensions With Electrohydraulic Actuator Dynamics

2008 ◽  
Author(s):  
Serena Tyson ◽  
Andrew Alleyne
Keyword(s):  
Tracking Control ◽  
Body Motion ◽  
Vehicle Body ◽  
Motion Controller ◽  
Active Suspensions ◽  
Actuator Dynamics ◽  
Car Model ◽  
Position Regulation ◽  
Position Tracking Control ◽  
Electrohydraulic Actuator

Since the initial conception in the late 1960’s, the field of active suspensions for automotive applications has seen numerous research investigations. While there has been a wealth of information previously published, relatively few of these works have incorporated the dynamics of the actuator in their analysis. Including the electrohydraulic actuator dynamics with the plant model introduces the additional effects of the coupling between the actuator and the vehicle body motion. Controller designs using the linearized actuator dynamics typically use a tracking framework. Electrohydraulic systems are limited in their ability to do force or position tracking control when interacting with an environment possessing dynamics such as the 1/4 car model. This paper introduces a novel framework that includes electrohydraulic actuator dynamics in which the tracking problem is replaced by a properly posed regulation problem. Both force regulation and position regulation frameworks are considered and the relative merits/drawbacks of each presented.

Force Tracking Control for Electrohydraulic Active Suspensions Using Output Redefinition

1999 ◽  
Author(s):  
Carlos F. Osorio ◽  
Srinivasan Gopalasamy ◽  
Karl Hedrick
Keyword(s):  
Degrees Of Freedom ◽  
Surface Force ◽  
Active Suspension ◽  
Full Potential ◽  
Reference Trajectory ◽  
Active Suspensions ◽  
Actuator Dynamics ◽  
Output Redefinition ◽  
Tracking Controller ◽  
Force Tracking

Abstract This paper presents an output redefinition strategy for the design of a dual sliding surface force tracking controller for a two degrees of freedom electrohydraulic active suspension system. In the proposed approach, an appropriately redefined output is made to track a modified reference trajectory, which effectively compensates for undesired behavior and controller bandwidth limitations introduced into the system by the built-in feedback of the suspension velocity to the actuator dynamics. Results show a noticeable performance improvement in the controller’s ability to track a variety of desired force reference trajectories, while adequately handling external road disturbances. The careful design of this force tracking controller is an important step towards implementation and realization of the full potential of several linear active suspension control techniques that consider the suspension actuator force as the input to the system. The experimental evaluation of the controller was performed on the UC Berkeley Active Suspension Test Rig.

scholarly journals Sensing, Actuation, and Control of the SmartX Prototype Morphing Wing in the Wind Tunnel

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 107
Author(s):  
Nakash Nazeer ◽  
Xuerui Wang ◽  
Roger M. Groves
Keyword(s):  
Wind Tunnel ◽  
Optical Fibers ◽  
Fiber Optic ◽  
Experimental Testing ◽  
Single Mode ◽  
Fiber Optic Sensor ◽  
Sensor Data ◽  
Random Errors ◽  
Morphing Wing ◽  
Actuator Dynamics

This paper presents a study on trailing edge deflection estimation for the SmartX camber morphing wing demonstrator. This demonstrator integrates the technologies of smart sensing, smart actuation and smart controls using a six module distributed morphing concept. The morphing sequence is brought about by two actuators present at both ends of each of the morphing modules. The deflection estimation is carried out by interrogating optical fibers that are bonded on to the wing’s inner surface. A novel application is demonstrated using this method that utilizes the least amount of sensors for load monitoring purposes. The fiber optic sensor data is used to measure the deflections of the modules in the wind tunnel using a multi-modal fiber optic sensing approach and is compared to the deflections estimated by the actuators. Each module is probed by single-mode optical fibers that contain just four grating sensors and consider both bending and torsional deformations. The fiber optic method in this work combines the principles of hybrid interferometry and FBG spectral sensing. The analysis involves an initial calibration procedure outside the wind tunnel followed by experimental testing in the wind tunnel. This method is shown to experimentally achieve an accuracy of 2.8 mm deflection with an error of 9%. The error sources, including actuator dynamics, random errors, and nonlinear mechanical backlash, are identified and discussed.

scholarly journals Task-space regulation of rigid-link electrically-driven robots with uncertain kinematics using neural networks

2021 ◽  
Vol 54 (1-2) ◽  
pp. 102-115
Author(s):  
Wenhui Si ◽  
Lingyan Zhao ◽  
Jianping Wei ◽  
Zhiguang Guan
Keyword(s):  
Neural Networks ◽  
Asymptotic Stability ◽  
Control Method ◽  
Joint Space ◽  
Robot Kinematics ◽  
Rbf Neural Networks ◽  
Task Space ◽  
Actuator Dynamics ◽  
Rigid Link ◽  
On Line

Extensive research efforts have been made to address the motion control of rigid-link electrically-driven (RLED) robots in literature. However, most existing results were designed in joint space and need to be converted to task space as more and more control tasks are defined in their operational space. In this work, the direct task-space regulation of RLED robots with uncertain kinematics is studied by using neural networks (NN) technique. Radial basis function (RBF) neural networks are used to estimate complicated and calibration heavy robot kinematics and dynamics. The NN weights are updated on-line through two adaptation laws without the necessity of off-line training. Compared with most existing NN-based robot control results, the novelty of the proposed method lies in that asymptotic stability of the overall system can be achieved instead of just uniformly ultimately bounded (UUB) stability. Moreover, the proposed control method can tolerate not only the actuator dynamics uncertainty but also the uncertainty in robot kinematics by adopting an adaptive Jacobian matrix. The asymptotic stability of the overall system is proven rigorously through Lyapunov analysis. Numerical studies have been carried out to verify efficiency of the proposed method.

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