scholarly journals Dual adaptive robust control for uncertain nonlinear active suspension systems actuated by asymmetric electrohydraulic actuators

2020 ◽  
pp. 146134842092711
Author(s):  
Dingxuan Zhao ◽  
Miaomiao Du ◽  
Tao Ni ◽  
Mingde Gong ◽  
Lizhe Ma
Keyword(s):  
Active Suspension ◽  
Hydraulic Cylinder ◽  
Suspension System ◽  
Loop System ◽  
Control Law ◽  
Actuator Dynamics ◽  
Suspension Systems ◽  
Main Loop ◽  
Active Suspension Systems ◽  
Electrohydraulic Actuator

This study investigates the vibration control issue of active suspension systems. Unlike previous results that neglect the actuator dynamics or consider the impractical symmetrical hydraulic cylinder model, this paper incorporates more reasonable asymmetric electrohydraulic actuator into active suspension system and derives its dynamic model. However, whether active suspension or electrohydraulic actuator suffers from nonlinearities (e.g. nonlinear spring, nonlinear damper and nonlinear actuator dynamics) and parameters uncertainties (e.g. the variations of sprung mass and hydraulic fluid’s bulk modulus as well as hydraulic cylinder original control volumes) , which were rarely synthetically considered in the existing researches.To address these issues, we develop a novel dual adaptive robust controller (ARC). An ARC is firstly designed for main-loop system for stabilizing the car body and improving ride comfort in the presence of nonlinearities and parameter uncertainties as well as road disturbances. In order to meet the constraints requirements of suspension system, the tunable parameters in main-loop control law are optimized by solving linear matrix inequality with kidney-inspired algorithm. Another ARC is further synthesized for sub-loop system to deal with the nonlinear and uncertain dynamics in electrohydraulic actuator for ensuring the force tracking performance. Meanwhile, the uncertain parameters are estimated online to compensate the model deviation. The terminal control law is able to guarantee the asymptotic stability of close-loop system within Lyapunov framework. Finally, the effectiveness and robustness of the proposed controller are demonstrated via excessive simulation experiments over different road conditions.

Controller Design and Road-Friendly Suspension Optimization: Half Vehicle Model

2020 ◽  
Author(s):  
Vikas Prasad ◽  
P. Seshu ◽  
Dnyanesh N. Pawaskar
Keyword(s):  
Controller Design ◽  
Active Suspension ◽  
Suspension System ◽  
Performance Criteria ◽  
Control Law ◽  
Vehicle Model ◽  
Nsga Ii ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Active Damper

Abstract In this paper, the design of the suspension system for Heavy Goods Vehicles (HGV) is proposed, which deals with two performance criteria simultaneously. A semi-tractor trailer is used in present work and modeled with half vehicle model. Four types of linear, as well as non-linear, passive and semi-active suspension systems, are presented in this work. The control law is proposed for the semi-active suspension system using a PID controller to remove the need for passive damper along with active damper. Two objective optimization is performed using the Non-dominated Sorting Genetic Algorithm II (NSGA-II). Road Damage (RD) is taken as the first objective along with Goods Damage (GD) as the second objective. All problems are minimization problems. It is concluded based on Pareto front comparison of different suspension systems that the semi-active suspension system with the proposed control law performs well for HGV.

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.

scholarly journals Adaptive neural network sliding mode control for active suspension systems with electrohydraulic actuator dynamics

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142094198
Author(s):  
Jinwei Sun ◽  
Kai Zhao
Keyword(s):  
Neural Network ◽  
Sliding Mode ◽  
Active Suspension ◽  
Sliding Mode Controller ◽  
Adaptive Neural Network ◽  
Actuator Dynamics ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Highly Nonlinear ◽  
Electrohydraulic Actuator

The object of this article is to design an observer-based adaptive neural network sliding mode controller for active suspension systems. A general nonlinear suspension model is established, and the electrohydraulic actuator dynamics are considered. The proposed controller is decomposed into two loops. Since the dynamics of the actuator is assumed highly nonlinear with uncertainties, the adaptive neural network is presented in the inner loop to ensure the control system robustness against uncertainties, and the self-tuning weighting vector is adjusted online according to the updated law obtained by Lyapunov stability theory. In the outer loop, a model reference sliding mode controller is developed to track the desired states of the hybrid reference model that combines skyhook and groundhook control methods. Besides, to obtain the unmeasured states of the system, an unscented Kalman filter is utilized to provide necessary information for the controller. Simulation results show that the exerted force can be tracked precisely even in the existence of uncertainties. Moreover, the proposed controller can improve the suspension’s performance effectively.

A research of sliding mode control method with disturbance observer combining skyhook model for active suspension systems

2019 ◽  
Vol 26 (11-12) ◽  
pp. 952-964 ◽  
Author(s):  
Wu Qin ◽  
Wen-Bin Shangguan ◽  
Kegang Zhao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Suspension Systems ◽  
Mode Control ◽  
Active Suspension Systems ◽  
Mass Displacement ◽  
The Impact

Based on a nonlinear two-degree-of-freedom model of active suspension systems, an approach of the sliding mode control with disturbance observer combining skyhook model sliding mode control with disturbance observer combining is proposed for improving the performance of active suspension systems, and the effectiveness of the proposed approach is validated by the active suspension system plant. Two problems of active suspension systems are solved by using the proposed approach when the tire is excited by the step displacement. One problem is that the suspension deflection of active suspension systems, i.e. the difference between the sprung mass displacement and the unsprung mass displacement, using conventional sliding mode control with disturbance observer not converges to zero in finite time, and the phenomenon of the impact of suspension against the limit block is produced. This problem is solved by providing a reference value of the sprung mass displacement in an active suspension system, which is obtained from the skyhook model. The other problem is that disturbances exist in active suspension systems, which are caused by the inaccurate parameters of stiffness and damping. This problem is solved by designing a disturbance observer to estimate the summation of the disturbances. Finally, the performance indexes of the active suspension system with the sliding mode control with disturbance observer combining skyhook model are calculated and compared with those of using the conventional sliding mode control with disturbance observer and the linear quadratic regulator approach.

Two-Dimensional Dynamics of Tracked Ram Air Cushion Vehicles With Fixed and Variable Winglets

1979 ◽  
Vol 101 (4) ◽  
pp. 321-331
Author(s):  
L. M. Sweet ◽  
H. C. Curtiss ◽  
R. A. Luhrs
Keyword(s):  
Active Suspension ◽  
Suspension System ◽  
Ride Quality ◽  
Vertical Acceleration ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Air Cushion ◽  
Linearized Model ◽  
The One ◽  
Air Cushion Vehicles

A linearized model of the pitch-heave dynamics of a Tracked Ram Air Cushion Vehicle is presented. This model is based on aerodynamic theory which has been verified by wind tunnel and towed model experiments. The vehicle is assumed to be equipped with two controls which can be configured to provide various suspension system characteristics. The ride quality and dynamic motions of the fixed winglet vehicle moving at 330 km/hr over a guideway described by roughness characteristics typical of highways is examined in terms of the rms values of the vertical acceleration in the foremost and rearmost seats in the passenger cabin and the gap variations at the leading and trailing edges of the vehicle. The improvement in ride quality and dynamic behavior which can be obtained by passive and active suspension systems is examined and discussed. Optimal regulator theory is employed to design the active suspension system. The predicted rms values of the vertical acceleration in the one-third octave frequency bands are compared with the vertical ISO Specifications. It is shown that marked improvements in the ride quality can be obtained with either the passive or active suspension systems.

Control Bifurcations of a Magneto-Rheological Fluid Based Active Suspension System

2005 ◽  
Author(s):  
Amit Shukla
Keyword(s):  
Differential Equation ◽  
Nonlinear System ◽  
Center Manifold ◽  
Multiple Equilibria ◽  
Qualitative Change ◽  
Active Suspension ◽  
Suspension System ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Magneto Rheological

Design of active suspension systems is well known, however the notion of control bifurcations for the design of such systems has been introduced recently. A nonlinear active suspension system consisting of a magneto-rheological damper is analyzed in this work. It is well known that a parameterized nonlinear differential equation can have multiple equilibria as the parameter is varied. A local bifurcation of a parameterized nonlinear system typically happens because some eigenvalues of the parameterized linear approximating differential equation cross the imaginary axis and there is a change in stability of the equilibrium. The qualitative change in the equilibrium point can be characterized by investigating the projection of the flow on the center manifold. A control bifurcation of a nonlinear system typically occurs when its linear approximation loses stabilizability. In this work the control bifurcations of a magneto-rheological fluid based active suspension system is analyzed. Some parametric results are presented with suggestions on how to design nonlinear control based on the parametric control bifurcation analysis as applied to the design of an active suspension system.

Parametric Study on Proportional Integral Derivative Controlled Semi-Active Suspension System

2016 ◽  
Vol 8 (1) ◽  
Author(s):  
E.M Allam ◽  
M.A.A Emam ◽  
Eid.S Mohamed
Keyword(s):  
Active Suspension ◽  
Suspension System ◽  
Proportional Integral Derivative ◽  
Active System ◽  
Proportional Integral ◽  
Quarter Car Model ◽  
Suspension Systems ◽  
Working Space ◽  
Active Suspension Systems ◽  
Quarter Car

This paper presents the effect of the suspension working space, body displacement, body acceleration and wheel displacement for the non-controlled suspension system (passive system) and the controlled suspension system of a quarter car model (semi-active system), and comparison between them. The quarter car passive and semi-active suspension systems are modelled using Simulink. Proportional Integral Derivative controllers are incorporated in the design scheme of semi-active models. In the experimental work, the influence of switchable damper in a suspension system is compared with the passive and semi-active suspension systems.

Design and performance comparison of interconnection and damping assignment passivity-based control for vibration suppression in active suspension systems

2020 ◽  
pp. 107754632093374
Author(s):  
Pramod Sistla ◽  
Sheron Figarado ◽  
Krishnan Chemmangat ◽  
Narayan Suresh Manjarekar ◽  
Gangadharan Kallu Valappil
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Active Suspension ◽  
Control Law ◽  
Linear Quadratic ◽  
Scaled Model ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Special Cases ◽  
Passivity Based Control

This study presents the design of interconnection and damping assignment passivity-based control for active suspension systems. It is well known that interconnection and damping assignment passivity-based control’s design methodology is based on the physical properties of the system where the kinetic and potential energy profiles are shaped, and asymptotic stability is achieved by damping injection. Based on the choice of control variables, special cases of the control law are derived, and tuning of the control law with the physical meaning of the variables is demonstrated along with their simulation results. The proposed control law is experimentally validated on a scaled model of a quarter-car active suspension system with different road profiles, varying load conditions, and noise and delay in the sensor measurements and actuator respectively. The results are compared with that of an uncontrolled system with linear quadratic regulator and sliding mode control.

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.

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