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.

Model Based Actuator Management for a Hydraulic Active Suspension System: Improving Comfort Performance by Advanced Control

2011 ◽  
Author(s):  
Stijn De Bruyne ◽  
Jan Anthonis ◽  
Marco Gubitosa ◽  
Herman Van der Auweraer ◽  
Wim Desmet ◽  
...  
Keyword(s):  
Simulation Analysis ◽  
Active Suspension ◽  
Suspension System ◽  
Actuator Dynamics ◽  
Handling Performance ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Advanced Control ◽  
Performance Map ◽  
Force Tracking

Active suspension systems aim at increasing safety by improving vehicle ride and handling performance while ensuring superior passenger comfort. This paper addresses the influence of the actuator management on the comfort performance of a complete hydraulic active suspension system. An innovative approach, based on nonlinear Model Predictive Control, is proposed and compared to a classical approach that employs a steady-state performance map of the actuator. A simulation analysis shows how taking into account actuator dynamics improves the actuator’s force tracking performance, leading to an improvement of the overall vehicle comfort performance.

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 FxLMS Method for Suppressing In-Wheel Switched Reluctance Motor Vertical Force Based on Vehicle Active Suspension System

2014 ◽  
Vol 2014 ◽  
pp. 1-16 ◽  
Author(s):  
Yan-yang Wang ◽  
Yi-nong Li ◽  
Wei Sun ◽  
Chao Yang ◽  
Guang-hui Xu
Keyword(s):  
Vertical Component ◽  
Active Suspension ◽  
Radial Force ◽  
Suspension System ◽  
Vertical Force ◽  
Least Mean Square ◽  
Active Suspensions ◽  
Switched Reluctance ◽  
Resonance Frequencies ◽  
Suspension Performance

The vibration of SRM obtains less attention for in-wheel motor applications according to the present research works. In this paper, the vertical component of SRM unbalanced radial force, which is named as SRM vertical force, is taken into account in suspension performance for in-wheel motor driven electric vehicles (IWM-EV). The analysis results suggest that SRM vertical force has a great effect on suspension performance. The direct cause for this phenomenon is that SRM vertical force is directly exerted on the wheel, which will result in great variation in tyre dynamic load and the tyre will easily jump off the ground. Furthermore, the frequency of SRM vertical force is broad which covers the suspension resonance frequencies. So it is easy to arouse suspension resonance and greatly damage suspension performance. Aiming at the new problem, FxLMS (filtered-X least mean square) controller is proposed to improve suspension performance. The FxLMS controller is based on active suspension system which can generate the controllable force to suppress the vibration caused by SRM vertical force. The conclusion shows that it is effective to take advantage of active suspensions to reduce the effect of SRM vertical force on suspension performance.

Zero-Energy Active Suspension System for Automobiles With Adaptive Sky-Hook Damping

2013 ◽  
Vol 135 (1) ◽  
Author(s):  
Kalpesh Singal ◽  
Rajesh Rajamani
Keyword(s):  
Active Suspension ◽  
Suspension System ◽  
Energy Management System ◽  
Zero Energy ◽  
Passive System ◽  
Active System ◽  
Active Suspensions ◽  
Resonant Frequencies ◽  
Active Systems ◽  
Automotive Suspension

Previous research has shown that a semiactive automotive suspension system can provide significant benefits compared to a passive suspension but cannot quite match the performance of a fully active system. The advantage of the semiactive system over an active system is that it consumes almost zero energy by utilizing a variable damper whose damping coefficient is changed in real time, while a fully active suspension consumes significant power for its operation. This paper explores a new zero-energy active suspension system that combines the advantages of semiactive and active suspensions by providing the performance of the active system at zero energy cost. Unlike a semiactive system in which the energy is always dissipated, the proposed system harvests and recycles energy to achieve active operation. An electrical motor-generator is used as the zero-energy actuator and a controller and energy management system are developed. An energy adaptive sky-hook gain is proposed to prevent the system from running out of energy, thereby eliminating the need to switch between passive and active systems. The results show that the system performs at least as well as a passive system for all frequencies, and is equivalent to an active system for a broad range of frequencies including both resonant frequencies.

Semi-Active Suspension System for 2S1 Tracked Platform in Application of Improvement of the Vehicle Body Stability

2015 ◽  
Vol 759 ◽  
pp. 77-90 ◽  
Author(s):  
Tomasz Nabagło ◽  
Andrzej Jurkiewicz ◽  
Janusz Kowal
Keyword(s):  
Active Suspension ◽  
Suspension System ◽  
Comfort Level ◽  
Vehicle Body ◽  
Active Suspensions ◽  
Basic Model ◽  
Strategy Model ◽  
Ground Conditions ◽  
Suspension Model ◽  
Torsion Springs

In the article, a new solution of a semi-active suspension system is presented. It is based on a sky-hook strategy model. This solution in 2S1 tracked platform is applied to improve body vehicle stability and driving comfort. The solution is applied in two versions of the 2S1 vehicle suspension model. First one is a basic model. This suspension is based on existing construction of the 2S1 platform suspension. It is based on torsion bars. Second one is a modified model, based on spiral torsion springs. In this model a new solution of idler mechanism is applied. It provides constant tension of the tracks. Semi-active suspensions simulations results are compared with results of models with passive versions of the suspension to highlight the improvement level. Simulations are conducted in the Yuma Proving Ground conditions. Results of all models simulations are compared and analyzed to improve stability and comfort level in conditions of the modern battlefield. Stability level is analyzed for weapon aiming tasks. Comfort level is analyzed for the vehicle crew efficiency.

An experimental and theoretical investigation into the design of an active suspension system for a racing car

1997 ◽  
Vol 211 (3) ◽  
pp. 161-173 ◽  
Author(s):  
D. J. Purdy ◽  
D. N. Bulman
Keyword(s):  
Active Suspension ◽  
Open Loop ◽  
Suspension System ◽  
Active System ◽  
Ride Height ◽  
Active Suspensions ◽  
Suspension Systems ◽  
System A ◽  
Active Suspension Systems ◽  
The Difference

The well-established quarter car representation is used to investigate the design of an active suspension system for a racing car. The work presented is from both a practical and theoretical study. The experimental open-loop and passive responses of the suspension system are used to validate the model and estimate the level of damping within the system. A cascade control structure is used, consisting of an inner body acceleration loop and an outer ride height loop. Comparisons are made between the experimental results and those predicted by the theory. During the 1980s and early 1990s a number of Formula 1 teams developed active suspension systems to improve the performance of cars. Little detail was published about these systems because of the highly competitive nature of the application. Some of these systems were very sophisticated and successful. Because of this, speed increased considerably and because of the costs involved, the difference in performance between the lower and higher funded teams became unacceptable. For this reason, the governing body of motor sport decided to ban active suspensions from the end of the 1993 racing season. Both authors of this paper were involved with different racing teams at that time, and this paper is an introduction to the very basic philosophy behind a typical active system that was employed on a Formula 1 car.

A novel semi-active control strategy based on the cascade quantitative feedback theory for a vehicle suspension system

2018 ◽  
Vol 233 (7) ◽  
pp. 1851-1863 ◽  
Author(s):  
Jeyasenthil Ramamurthy ◽  
Seung-Bok Choi
Keyword(s):  
Ride Comfort ◽  
Control Method ◽  
Suspension System ◽  
Quantitative Feedback Theory ◽  
Damping Force ◽  
Outer Loop ◽  
Actuator Dynamics ◽  
Vibration Attenuation ◽  
Force Tracking ◽  
Magneto Rheological

This paper proposes a robust controller for semi-active suspension system with actuator dynamics using the quantitative feedback theory. It solves the vehicle vibration attenuation problem using the novel cascade approach. The proposed cascade quantitative feedback theory control approach consists of the inner and outer loop. The damping force tracking of the magneto-rheological damper is chosen as the inner loop, while the outer loop is for the vibration attenuation. The inner loop is added to the control structure to enhance damping force tracking capabilities. The damping force of the magneto-rheological damper depends on the many factors, such as the complex and nonlinear (hysteresis) dynamics and operating temperature. The actuator (magneto-rheological damper) dynamics is well approximated by a first-order model with an uncertain time constant which captures the essential dynamics. The simulation case study is conducted on a realistic quarter car suspension system to show the effectiveness of the proposed cascade control method. The proposed method is found to deliver superior performances, in terms of ride comfort and road holding, over the skyhook, [Formula: see text] control, and single-loop quantitative feedback theory control under the bump, sine, and random road disturbances.

Hybrid active suspension system of a helicopter main gearbox

2016 ◽  
Vol 24 (5) ◽  
pp. 956-974 ◽  
Author(s):  
Jonathan Rodriguez ◽  
Paul Cranga ◽  
Simon Chesne ◽  
Luc Gaudiller
Keyword(s):  
System Development ◽  
Active Suspension ◽  
Suspension System ◽  
Low Energy ◽  
Least Mean Square ◽  
Active System ◽  
Active Suspensions ◽  
Suspension Systems ◽  
Development Support ◽  
New Generation

This paper considers experiments on the control of a helicopter gearbox hybrid electromagnetic suspension. As the new generation of helicopters includes variable engine revolutions per minute (RPMs) during flight, it becomes relevant to add active control to their suspension systems. Most active system performance derives directly from the controller construction, its optimization to the system controlled, and the disturbances expected. An investigation on a feedback and feedforward filtered-x least mean square (FXLMS) control applied to an active DAVI suspension has been made to optimize it in terms of narrow-band disturbance rejection. In this paper, we demonstrate the efficiency of a new hybrid active suspension by combining the advantages of two different approaches in vibration control: resonant absorbers and active suspensions. Here, a hybrid active suspension based on the passive vibration filter called DAVI is developed. The objective of this paper is to prove the relevancy of coupling a resonant vibration absorber with a control actuator in order to create an active suspension with larger bandwidth efficiency and low energy consumption. The simulations and experimentation achieved during this suspension system development support this hypothesis and illustrate the efficiency and low energy cost of this smart combination.

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