Body attitude control strategy based on road level for heavy rescue vehicles

2020 ◽  
pp. 095440702096616
Author(s):  
Hao Chen ◽  
Mingde Gong ◽  
Dingxuan Zhao ◽  
Jianxu Zhu
Keyword(s):  
Control Strategy ◽  
Attitude Control ◽  
Ride Comfort ◽  
Active Suspension ◽  
Suspension System ◽  
Vehicle Body ◽  
Vertical Acceleration ◽  
Inference System ◽  
The Road ◽  
Body Attitude

This paper proposes an attitude control strategy based on road level for heavy rescue vehicles. The strategy aims to address the problem of poor ride comfort and stability of heavy rescue vehicles in complex road conditions. Firstly, with the pressure of the suspension hydraulic cylinder chamber without a piston rod as the parameter, Takagi–Sugeno fuzzy controller classification and adaptive network-based fuzzy inference system controller classification are used to recognise the road level. Secondly, particle swarm optimisation is adopted to obtain the optimal parameters of the active suspension system of vehicle body attitude control under different road levels. Lastly, the parameters of the active suspension system are selected in accordance with the road level recognised in the driving process to improve the adaptive adjustment capability of the active suspension system at different road levels. Test results show that the root mean square values of vertical acceleration, pitch angle and roll angle of the vehicle body are reduced by 59.9%, 76.2% and 68.4%, respectively. This reduction improves the ride comfort and stability of heavy rescue vehicles in complex road conditions.

Research on Optimal Control and Simulation for Active Suspension Systems

2013 ◽  
Vol 340 ◽  
pp. 631-635
Author(s):  
Yong Fa Qin ◽  
Jie Hua ◽  
Long Wei Geng
Keyword(s):  
Optimal Control ◽  
Ride Comfort ◽  
Mathematic Model ◽  
Active Suspension ◽  
Suspension System ◽  
Vehicle Body ◽  
Vertical Acceleration ◽  
The Road ◽  
Suspension Systems ◽  
Active Suspension Systems

Vehicles with active suspension systems become more ride comfort and maneuverable stability, many types of active suspensions have been applied to passenger vehicles, but one of the shortcomings of an active susupension system is that the additional control power consumption is needed. The core issues of designing an active suspension system are to minimiaze vibration magnitute and control energy comsuption of the active suspension system. A new mathematic model for an active suspension system is established based on vehicle dynamics and modern control theory. An optimal control law is constructed through solving the Riccati equation, and then the transfer function is deduced to describe the relationship between the vetical velosity of the road roughness and the output of suspension system. Three typical parameters of vehicle ride comfort are researched, such as vertical acceleration of vehicle body, dynamic deflection of suspension system and dynamic deformation of tires. A case of a quarter vehicle model is studied by simulation to show that the proposed method of modeling and designing optimal controller are suitable to develop active suspension systems.

Improvement of Ride Comfort with Active Suspension System Using Preview Control Law

1995 ◽  
Vol 7 (4) ◽  
pp. 307-311
Author(s):  
Hideo Tobata ◽  
◽  
Takeshi Kimura ◽  
Yohsuke Akatsu
Keyword(s):  
Ride Comfort ◽  
Vertical Motion ◽  
Active Suspension ◽  
Road Surface ◽  
Vehicle Body ◽  
Vertical Acceleration ◽  
Control Force ◽  
Preview Control ◽  
Rear Suspension ◽  
The Road

It is known that the ride comfort of a vehicle equipped with active suspension can be further improved if a priori information about the road surface, i.e., preview control, is used. This paper discusses the application of preview control to the rear wheels of a vehicle with active suspension. Information about the front wheels' vertical motion is used to estimate the vertical travel of the rear wheels. Vibration transmitted from the road surface to the vehicle body through the rear suspension can be estimated from the vertical motion of the wheels. Thus, the control force that should be generated by the rear suspension actuators can be obtained. Simulation results reveal that preview control provides an accurate estimate of road force inputs, enabling the vertical acceleration of the vehicle body to be reduced for further improvement in ride comfort. The results of vehicle driving tests also confirm that the preview-control force serves to reduce the vertical acceleration of the vehicle body. Cooperation between preview control and a skyhook damper is also discussed and shown to be effective in reducing vehicle body vibration.

Vehicle attitude compensation control of magneto-rheological semi-active suspension based on state observer

2021 ◽  
pp. 095440702110208
Author(s):  
Ruochen Wang ◽  
Fupeng Sheng ◽  
Renkai Ding ◽  
Xiangpeng Meng ◽  
Zeyun Sun
Keyword(s):  
Control Algorithm ◽  
Ride Comfort ◽  
Active Suspension ◽  
State Observer ◽  
Suspension System ◽  
Vehicle Body ◽  
Velocity Signal ◽  
Compensation Control ◽  
Body Attitude ◽  
Magneto Rheological

This paper presents a vehicle attitude compensation algorithm based on state observer for vehicle semi-active suspension system equipped with four magneto-rheological dampers (MR dampers). The proposed algorithm including magneto-rheological damper control algorithm, attitude compensation control algorithm, and design method of state observer is to effectively improve ride comfort and control vehicle body attitude. First, the actual equivalent damping of magneto-rheological damper is introduced into state observer, and the parameter matrix of suspension system is updated in real time via precise discretization method to enhance the estimation accuracy of state observer. Then, the velocity signal estimated by state observer is employed as the evidence to realize attitude compensation control for vehicle body. Finally, relevant co-simulations and hardware-in-the-loop test are conducted to verify the validity of the proposed control algorithm. Results of simulations and tests demonstrate that the application of the control algorithm proposed in this paper can significantly improve ride comfort of magneto-rheological suspension and optimize vehicle body attitude.

Modeling and Simulation of a Displacement Controllable Active Suspension System

2018 ◽  
Author(s):  
Beibei Liu ◽  
Lin Xu ◽  
Zhen Zhao ◽  
Mohamed A. A. Abdelkareem ◽  
Junyi Zou ◽  
...  
Keyword(s):  
Attitude Control ◽  
High Speed ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Body Position ◽  
Active Suspension ◽  
Suspension System ◽  
The Body ◽  
Vehicle Body ◽  
Dynamic State

Active suspension can adapt itself to the rigidity and the damping characteristics based on the vehicle dynamic state and the road condition, making the suspension in the best state of shock absorbing, which can increase the handling stability, the ride comfort and the passing ability of vehicles. As for strikingly rugged roads like off-road conditions, the traditional active suspension can hardly balance the contradiction between the wheel adhesion and the vertical accelerated speed of the body. In this paper, an active suspension in which the position of the vehicle body can be adjusted is proposed. In the proposed suspension, a series of electric cylinders are installed, which can actively adjust the position between the vehicle body and the suspension in order to achieve the purpose of controlling the relative body-wheels position. In this manner, AMESim is used to set up three suspension designs which include suspension supporter adaptation equipment with different locations in the system. Through simulation analysis, the paper has explored the feasibility of the vehicle attitude control of the three suspension designs under off-road conditions. The results proved that the active suspension system with adjustable body position can restrain the body roll or pitch efficiently in which this technology can be applied to the body attitude control when ORVs are at high speed.

scholarly journals Mathematical Modelling of Two-Wheeler Suspension system in a wavy road

2019 ◽  
Vol 8 (11) ◽  
pp. 3630-3635
Keyword(s):  
Ride Comfort ◽  
Health Hazard ◽  
Suspension System ◽  
Vehicle Body ◽  
Continuous Exposure ◽  
Potential Health ◽  
Suspension Spring ◽  
The Road ◽  
Potential Health Hazard ◽  
Two Wheeler

Two wheelers like motorbikes and scooters are one of the major transports in India. In major cities and towns, it is most common private transport as it is fast and easy approach to the destination. But the prolonged drive in the two-wheeler leads to the potential health hazard and musco-skeletal disorder due to continuous exposure to the vibration caused during the ride and force transmitted to the vehicle body due to road irregularities. It is a challenge of automobile engineers to design a promising suspension system to overcome the risk of ride comfort during continuous driving. In this research, two-wheeler suspension system is modelled with a condition of bump and valley in a wavy road. The road surface is assumed to be wavy and the response of new suspension spring with different materials (stainless steel, tungsten and polymeric) along with viscous damper is analyzed and compared. By this analysis, it will be proposed to industry to modify the suspension system to improve its efficiency and reduce force transmitted to the human body to improve the ride comfort

scholarly journals Variable damping control strategy of a semi-active suspension based on the actuator motion state

2019 ◽  
Vol 39 (3) ◽  
pp. 787-802 ◽  
Author(s):  
Mingde Gong ◽  
Hao Chen
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Active Suspension ◽  
Suspension System ◽  
Heavy Vehicles ◽  
Damping Force ◽  
Damping Control ◽  
Motion State ◽  
Variable Damping ◽  
Work First

A semi-active suspension variable damping control strategy for heavy vehicles is proposed in this work. First, a nine-degree-of-freedom model of a semi-active suspension of heavy vehicles and a stochastic road input mathematical model are established. Second, using a 1/6 vehicle as an example, a semi-active suspension system with damping that can be adjusted actively is designed using proportional relief and throttle valves. The damping dynamic characteristics of the semi-active suspension system and the time to establish the damping force are studied through a simulation. Finally, a variable damping control strategy based on an actuator motion state is proposed to adjust the damping force of the semi-active suspension system actively and therefore satisfy the vibration reduction requirements of different roads. Results show that the variable damping control suspension can substantially improve vehicle ride comfort and handling stability in comparison with a passive suspension.

Design of Vehicle Semi-Active Suspension System Control Unit

2012 ◽  
Vol 220-223 ◽  
pp. 1995-1999
Author(s):  
Hong Kun Zhang ◽  
Wen Jun Li
Keyword(s):  
Embedded System ◽  
Control Strategy ◽  
Ride Comfort ◽  
Integrated Control ◽  
Control Unit ◽  
Active Suspension ◽  
Suspension System ◽  
System Control ◽  
Control Effect ◽  
Minimax Strategies

This paper researches on embedded system design based on MC9s12Dp256 microcontroller for vehicle semi-active suspension. The hardware design of suspension control unit (SCU) is introduced. The integrated control strategy which integrates Skyhook and MiniMax strategies is proposed. The hardware-in-the-loop simulation (HILS) test on a two-degree-of-freedom quarter car semi-active suspension system model is carried out. The functions of SUC are verified and the performance of passive suspension and semi-active suspension is compared. The simulation results indicate that the performance of SCU achieves design requirement. In comparison with passive system, the control effect of integrated control strategy can be improved in ride comfort and drive safety.

scholarly journals Design of LQG Controller for Active Suspension without Considering Road Input Signals

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Hui Pang ◽  
Ying Chen ◽  
JiaNan Chen ◽  
Xue Liu
Keyword(s):  
Angular Acceleration ◽  
Active Suspension ◽  
Suspension System ◽  
Vehicle Body ◽  
Vehicle Suspension ◽  
Linear Quadratic ◽  
The Road ◽  
Input Signals ◽  
Vehicle Suspension System ◽  
Weight Coefficients

As the road conditions are completely unknown in the design of a suspension controller, an improved linear quadratic and Gaussian distributed (LQG) controller is proposed for active suspension system without considering road input signals. The main purpose is to optimize the vehicle body acceleration, pitching angular acceleration, displacement of suspension system, and tire dynamic deflection comprehensively. Meanwhile, it will extend the applicability of the LQG controller. Firstly, the half-vehicle and road input mathematical models of an active suspension system are established, with the weight coefficients of each evaluating indicator optimized by using genetic algorithm (GA). Then, a simulation model is built in Matlab/Simulink environment. Finally, a comparison of simulation is conducted to illustrate that the proposed LQG controller can obtain the better comprehensive performance of vehicle suspension system and improve riding comfort and handling safety compared to the conventional one.

scholarly journals Performance Comparison of Various controllers on Semi-Active Vehicle Suspension System

2021 ◽  
Vol 40 ◽  
pp. 01001
Author(s):  
Sarvesh Walavalkar ◽  
Viraj Tandel ◽  
Rahul Sunil Thakur ◽  
V.V Pramod Kumar ◽  
Supriya Bhuran
Keyword(s):  
Active Suspension ◽  
Suspension System ◽  
Internal Model Control ◽  
Vehicle Body ◽  
Vehicle Suspension ◽  
Inference System ◽  
Proportional Integral ◽  
Suspension Systems ◽  
Model Control ◽  
Vehicle Suspension System

The value of a self-tuning adaptive semi-active control scheme for automotive suspension systems is discussed in this paper. The current vehicle suspension system uses fixed-coeffcient springs and dampers. The ability of vehicle suspension systems to provide good road handling and improve passenger comfort is usually valued. Passive suspension allows you to choose between these two options. Semi-Active suspension(SAS), on the other hand, can provide both road handling and comfort by manipulating the suspension force actuators directly. The semi-active suspension system for a quarter car model is compared to passive and various controllers such as Proportional-Integral, Proportional-Integral-Derivative, Internal model control (IMC)-PID, IMC-PID with filter, FUZZY, and Adaptive-network-based fuzzy inference system(ANFIS) in this analysis. This research could be relevant in the future for designing better car suspension adjustments to eliminate vertical jerks and rolling motion experienced by the vehicle body on bumps and humps.

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