Control of a shimmy vibration in vehicle steering system using a magneto-rheological damper

2016 ◽  
Vol 24 (4) ◽  
pp. 797-807 ◽  
Author(s):  
Saikat Dutta ◽  
Seung-Bok Choi
Keyword(s):  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Steering System ◽  
Sliding Mode Controller ◽  
Control Logic ◽  
Adaptive Sliding Mode Controller ◽  
System A ◽  
Magneto Rheological

Vehicle stability largely depends on the vibration of the steering system. A four degrees of freedom dynamic model of an automotive steering system with a magneto-rheological damper is presented in this study. Firstly, an equivalent mathematical model of the steering system is developed. The nonlinear equation of motion obtained from the dynamic model is then linearized around its equilibrium point to make it suitable for the design of an appropriate controller for vibration suppression. In this work, a new type of adaptive sliding mode controller is designed for control of the magneto-rheological damper and hence to control unwanted vibration. It is shown that the proposed control logic is very effective for settling steering motion near the equilibrium position. The shimmy vibrations of the wheels are reduced by a considerable amount and the steering system becomes stable. In addition, a comparative work is undertaken between the proposed controller and an ordinary sliding mode controller to demonstrate the advantage of the proposed methodology.

Two-stage sliding mode controller for vibration suppression of a flexible pointing system

2001 ◽  
Vol 215 (2) ◽  
pp. 155-166 ◽  
Author(s):  
J-H Park ◽  
K-W Kim ◽  
H-H Yoo
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Two Stage ◽  
Bending Vibrations ◽  
System A ◽  
Hydraulic Servo ◽  
Pointing Accuracy ◽  
Simulation Results ◽  
Tip Position

The performance of pointing systems mounted on top of a vehicle can be affectedby the bending vibrations as the vehicle runs on a bump course. In order to improve the pointing performance, the vibrations of the pointing structure should be suppressed. In this paper, a non-linear controller is designed to control the tip position of the pointing system while actively suppressing the vibrations. To cope with high-order dynamics and non-linearity of the plant and the hydraulic actuating system, a two-stage sliding mode controller is designed. The desired actuating pressure is obtained in the first stage and then the input current to the hydraulic servo system is computed to generate the pressure. The simulation results show the effectiveness of this scheme and the improvements obtained in pointing accuracy.

scholarly journals Neural adaptive sliding mode controller for unmanned surface vehicle steering system

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879552 ◽  
Author(s):  
Lili Wan ◽  
Yixin Su ◽  
Huajun Zhang ◽  
Yongchuan Tang ◽  
Binghua Shi
Keyword(s):  
Neural Networks ◽  
Sliding Mode Control ◽  
Radial Basis Function ◽  
Basis Function ◽  
Sliding Mode ◽  
Steering System ◽  
Sliding Mode Controller ◽  
Unmanned Surface Vehicle ◽  
Adaptive Sliding Mode Controller ◽  
Radial Basis

Unmanned surface vehicle has the properties such as complexity, nonlinearity, time variability, and uncertainty, which lead to the difficulty of obtaining a precise kinematics model. A neural adaptive sliding mode controller for the unmanned surface vehicle steering system is developed based on the sliding mode control technique and the radial basis function neural network. In the new approach, two parallel radial basis function neural networks are used to reduce the influence of the system uncertainties and eliminate the dependency of the controller on the precise kinematics model of the system. Among these two radial basis function neural networks, one is used to approximate the unknown nonlinear yaw dynamics and the other is used to adjust the control gain as well as realize the variable gain sliding mode control. The weights of the two neural networks are trained online using the sliding surface variable and the control, where the Lyapunov method is used to derive the adaptive laws to ensure the stability of the whole closed-loop system. The proposed adaptive controller is suitable for the steering control at different cruising speeds with bounded external disturbances. The simulation results show that the proposed controller has a good control performance regarding the smooth control, fast response, and high accuracy.

A new adaptive sliding mode control for Macpherson strut suspension system with magneto-rheological damper

2016 ◽  
Vol 27 (20) ◽  
pp. 2795-2809 ◽  
Author(s):  
Saikat Dutta ◽  
Sang-Min Choi ◽  
Seung-Bok Choi
Keyword(s):  
Ride Comfort ◽  
Sliding Mode ◽  
Suspension System ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Magneto Rheological ◽  
Macpherson Strut

This work proposes a new adaptive sliding mode controller to enhance ride comfort and steering stability of automobile associated with a semi-active magneto-rheological damper. In this study, a Macpherson strut type suspension system which is widely used in light vehicles is considered. The dynamic model of the Macpherson strut with magneto-rheological damper is obtained and the governing equations are then formulated using kinematic properties of the suspension system following Lagrange’s formulation. In the formulation of the model, both the rotation of the wheel assembly and the lateral stiffness of the tire are considered to represent the nonlinear characteristic of Macpherson type suspension system. Subsequently, in order to effectively reduce unwanted vibrations, a new adaptive sliding mode controller is designed by adopting moving sliding surface instead of conventional fixed sliding surface. In order to demonstrate the effectiveness of the proposed controller, a cylindrical magneto-rheological damper is designed and manufactured on the basis of practical application conditions such as required damping force. Then, ride comfort, suspension travel, and road handling are evaluated and some benefits of the proposed controller such as enhanced ride comfort are evaluated.

scholarly journals Design of RBF Adaptive Sliding Mode Controller for A Supercavitating Vehicle

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 39873-39883
Author(s):  
Wang Jinghua ◽  
Liu Yang ◽  
Cao Guohua ◽  
Zhao Yongyong ◽  
Zhang Jiafeng
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Supercavitating Vehicle

Impact analysis and adaptive sliding mode control for cislunar payload transportation using spinning tether system

2018 ◽  
Vol 90 (8) ◽  
pp. 1168-1179 ◽  
Author(s):  
Hongshi Lu ◽  
Li Aijun ◽  
Wang Changqing ◽  
Zabolotnov Michaelovitch Yuriy
Keyword(s):  
Impact Analysis ◽  
Sliding Mode ◽  
Mass Parameter ◽  
Sliding Mode Controller ◽  
Content Type ◽  
Loop Control ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Payload Mass ◽  
Spinning Tether

Purpose This paper aims to present the impact analysis of payload rendezvous with tethered satellite system and the design of an adaptive sliding mode controller which can deal with mass parameter uncertainty of targeted payload, so that the proposed cislunar transportation scheme with spinning tether system could be extended to a wider and more practical range. Design/methodology/approach In this work, dynamical model is first derived based on Langrangian equations to describe the motion of a spinning tether system in an arbitrary Keplerian orbit, which takes the mass of spacecraft, tether and payload into account. Orbital design and optimal open-loop control for the payload tossed by the spinning tether system are then presented. The real payload rendezvous impact around docking point is also analyzed. Based on reference acceleration trajectory given by optimal theories, a sliding mode controller with saturation functions is designed in the close-loop control of payload tossing stage under initial disturbance caused by actual rendezvous error. To alleviate the influence of inaccurate/unknown payload mass parameters, the adaptive law is designed and integrated into sliding mode controller. Finally, the performance of the proposed controller is evaluated using simulations. Simulation results validate that proposed controller is found effective in driving the spinning tether system to carry payload into desired cislunar transfer orbit and in dealing with payload mass parameter uncertainty in a relatively large range. Findings The results show that unideal rendezvous manoeuvres have significant impact on in-plane motion of spinning tether system, and the proposed adaptive sliding mode controller with saturation functions not only guarantees the stability but also provides good performance and robustness against the parameter and unstructured uncertainties. Originality/value This work addresses the analysis of actual impact on spinning tether system motion when payload is docking with system within tolerated docking window, rather than at the particular ideal docking point, and the robust tracking control of deep-space payload tossing missions with the spinning tether system using the adaptive sliding mode controller dealing with parameter uncertainties. This combination has not been proposed before for tracking control of multivariable spinning tether systems.

An adaptive sliding mode controller for the lateral control of articulated long vehicles

2018 ◽  
Vol 233 (3) ◽  
pp. 487-515 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi ◽  
S Hamed Tabatabaei Oreh
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lane Change ◽  
Lateral Velocity ◽  
Low Speed ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Articulated Vehicle ◽  
The Stability

Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

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