Hybrid Sliding Mode Control of Full-Car Semi-Active Suspension Systems

With the advance in technology in driving vehicles, there is currently more emphasis on developing advanced control systems for better road handling stability and ride comfort. However, one of the challenging problems in the design and implementation of intelligent suspension systems is that there is currently no solution supporting the export of generic suspension models and control components for integration into embedded Electronic Control Units (ECUs). This significantly limits the usage of embedded suspension components in automotive production code software as it requires very high efforts in implementation, manual testing, and fulfilling coding requirements. This paper introduces a new dynamic model of full-car suspension system with semi-active suspension behavior and provides a hybrid sliding mode approach for control of full-car suspension dynamics such that the road handling stability and ride comfort characteristics are ensured. The semi-active suspension model and the hybrid sliding mode controller are implemented as Functional Mock-Up Units (FMUs) conforming to the Functional Mock-Up Interface for embedded systems (eFMI) and are calibrated with a set experimental tests using a 1/5 Soben-car test bench. The methods and prototype implementation proposed in this paper allow both model and controller re-usability and provide a generic way of integrating models and control software into embedded ECUs.

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Hybrid Modelling and Sliding Mode Control of Semi-Active Suspension Systems for Both Ride Comfort and Road-Holding

Symmetry ◽

10.3390/sym12081286 ◽

2020 ◽

Vol 12 (8) ◽

pp. 1286

Author(s):

Ayman Aljarbouh ◽

Muhammad Fayaz

Keyword(s):

Hybrid Model ◽

Ride Comfort ◽

Sliding Mode ◽

Active Suspension ◽

Suspension System ◽

Vehicle Suspension ◽

Suspension Systems ◽

Active Suspension Systems ◽

System Components ◽

And Control

Rigorous model-based design and control for intelligent vehicle suspension systems play an important role in providing better driving characteristics such as passenger comfort and road-holding capability. This paper investigates a new technique for modelling, simulation and control of semi-active suspension systems supporting both ride comfort and road-holding driving characteristics and implements the technique in accordance with the functional mock-up interface standard FMI 2.0. Firstly, we provide a control-oriented hybrid model of a quarter car semi-active suspension system. The resulting quarter car hybrid model is used to develop a sliding mode controller that supports both ride comfort and road-holding capability. Both the hybrid model and controller are then implemented conforming to the functional mock-up interface standard FMI 2.0. The aim of the FMI-based implementation is to serve as a portable test bench for control applications of vehicle suspension systems. It fully supports the exchange of the suspension system components as functional mock-up units (FMUs) among different modelling and simulation platforms, which allows re-usability and facilitates the interoperation and integration of the suspension system components with embedded software components. The concepts are validated with simulation results throughout the paper.

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Sliding Mode Control for Magneto-Rheological Vehicle Suspension Accounting for its Nonlinearity

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.433-435.1072 ◽

2013 ◽

Vol 433-435 ◽

pp. 1072-1077

Author(s):

Yu Lin Zhang

Keyword(s):

Ride Comfort ◽

Sliding Mode ◽

Linear Feedback ◽

Sliding Mode Controller ◽

Suspension Systems ◽

Numerical Result ◽

Car Suspension ◽

System Nonlinearity ◽

Magneto Rheological ◽

Suspension Model

The non-linear characteristics of magneto-rheological (MR) suspension systems have limited control performance of modern control theory based on linear feedback control. In this paper, a four DOF half car suspension model with two nonlinear MR dampers is adopted. In order to account for the nonlinearity, a sliding mode controller, which has inherent robustness against system nonlinearity, is formulated to improve comfort and road holding of the car under industrial specifications and it is fit to semi-active suspensions. The numerical result shows that the semi-active suspension using the sliding mode controller can achieve better ride comfort than the passive and also improve stability.

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Adaptive fault-tolerant control for active suspension systems based on the terminal sliding mode approach

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406219883304 ◽

2019 ◽

Vol 234 (2) ◽

pp. 501-511

Author(s):

Amirhossein Kazemipour ◽

Alireza B Novinzadeh

Keyword(s):

Control Strategy ◽

Control Method ◽

Fault Tolerant ◽

Sliding Mode ◽

Fault Tolerant Control ◽

Active Suspension ◽

Suspension System ◽

Terminal Sliding Mode ◽

Car Suspension ◽

Suspension Model

In this paper, a control system is designed for a vehicle active suspension system. In particular, a novel terminal sliding-mode-based fault-tolerant control strategy is presented for the control problem of a nonlinear quarter-car suspension model in the presence of model uncertainties, unknown external disturbances, and actuator failures. The adaptation algorithms are introduced to obviate the need for prior information of the bounds of faults in actuators and uncertainties in the model of the active suspension system. The finite-time convergence of the closed-loop system trajectories is proved by Lyapunov's stability theorem under the suggested control method. Finally, detailed simulations are presented to demonstrate the efficacy and implementation of the developed control strategy.

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Sliding Mode Control for Vibration Comfort Improvement of a 7-DOF Nonlinear Active Vehicle Suspension Model

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2019.p0095 ◽

2019 ◽

Vol 31 (1) ◽

pp. 95-103 ◽

Cited By ~ 2

Author(s):

Zhiyong Yang ◽

Shan Liang ◽

Yu Zhou ◽

Di Zhao ◽

◽

...

Keyword(s):

Sliding Mode Control ◽

Ride Comfort ◽

Control Method ◽

Sliding Mode ◽

Vehicle Suspension ◽

Suspension Systems ◽

Mode Control ◽

Before And After ◽

Nonlinear Vibration Control ◽

Suspension Model

Owing to the presence of nonlinear elements of a vehicle, when the vehicle goes through a rough-road-surface, such as consecutive speed control humps (SCHs), unexpected vibrations will exist in vehicle suspension systems, such as chaos, bifurcation, and quasi-periodic so on. In this paper, we first study the possibility of chaotic vibration of the seven degree-of-freedom (7-DOF) full vehicle model under consecutive SCHs on the highway. Then, a non-chattering sliding mode control method is proposed. The effectiveness of the sliding mode control method for the nonlinear vibration control of the vehicle suspension model is verified by numerical simulation. By comparing the changes in the vibration amplitude of the vehicle in the same velocity region before and after the control, we determine whether the ride comfort is improved. The results show that not only is the system’s chaos vibration effectively controlled, but also the ride comfort is significantly improved. The results can be applied in the design of a vehicle and in pavement of road humps.

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HALF CAR MAGNETORHEOLOGICAL SUSPENSION SYSTEM ACCOUNTING FOR NONLINEARITY AND TIME DELAY

International Journal of Modern Physics B ◽

10.1142/s0217979205030335 ◽

2005 ◽

Vol 19 (07n09) ◽

pp. 1381-1387 ◽

Cited By ~ 9

Author(s):

X. M. DONG ◽

MIAO YU ◽

S. L. HUANG ◽

ZUSHU LI ◽

W. M. CHEN

Keyword(s):

Time Delay ◽

Ride Comfort ◽

Linear Feedback ◽

Linear Quadratic ◽

Suspension Systems ◽

Mr Dampers ◽

Car Suspension ◽

Magnetorheological Suspension ◽

Suspension Model ◽

Stability And Accuracy

MR suspension systems have significant non-linearity and time-delay characteristics. For this reason, linear feedback control of an MR suspension has limited vibration control performance. To address this problem, a four DOF half car suspension model with two MR dampers was adopted. Having analyzed non-linearity and time-delay of the MR suspension, a Human-Simulation Intelligent Control (HSIC) law with three levels was designed. Simulation verified effects of HSIC in solving the problem of non-linearity and time-delay of MR dampers. In comparison, simulation of linear-quadratic gaussian (LQG) without considering the non-linearity and time-delay of MR suspension is also made. The simulation results show that the HSIC controller is faster than LQG controller under bump input and has better stability and accuracy, and it can achieve smaller acceleration peak value and root mean square (RMS) and better ride comfort compared with LQG controller under random input.

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Optimal Design of Active and Semi-Active Suspensions Including Time Delays and Preview

Journal of Vibration and Acoustics ◽

10.1115/1.2930378 ◽

1993 ◽

Vol 115 (4) ◽

pp. 498-508 ◽

Cited By ~ 28

Author(s):

A. Hac´ ◽

I. Youn

Keyword(s):

Ride Comfort ◽

Controller Design ◽

Piecewise Linear ◽

Active Suspension ◽

Front Wheel ◽

Active System ◽

Control Laws ◽

The Road ◽

Suspension Systems ◽

And Control

Several control laws for active and semi-active suspension based on a linear half car model are derived and investigated. The strategies proposed take full advantage of the fact that the road input to the rear wheels is a delayed version of that to the front wheels, which in turn can be obtained either from the measurements of the front wheels and body motions or by direct preview of road irregularities if preview sensors are available. The suspension systems are optimized with respect to ride comfort, road holding and suspension rattle space as expressed by the mean-square-values of body acceleration (including effects of heave and pitch), tire deflections and front and rear suspension travels. The optimal control laws that minimize the given performance index and include passivity constraints in the semi-active case are derived using calculus of variation. The optimal semi-active suspension becomes piecewise linear, varying between passive and fully active system and combinations of them. The performances of active and semi-active systems with and without preview were evaluated by numerical simulation in the time and frequency domains. The results show that incorporation of time delay between the front and rear axles in controller design improves the dynamic behavior of the rear axle and control of body pitch motion, while additional preview improves front wheel dynamics and body heave.

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Online Adaptive Neuro-Fuzzy Based Full Car Suspension Control Strategy

Research Methods ◽

10.4018/978-1-4666-7456-1.ch044 ◽

2015 ◽

pp. 992-1039

Author(s):

Laiq Khan ◽

Shahid Qamar

Keyword(s):

Degrees Of Freedom ◽

Ride Comfort ◽

Sliding Mode ◽

Active Suspension ◽

Suspension System ◽

Car Model ◽

Car Suspension ◽

Neuro Fuzzy ◽

Suspension Control ◽

Soft Computing Technique

Suspension system of a vehicle is used to minimize the effect of different road disturbances for ride comfort and improvement of vehicle control. A passive suspension system responds only to the deflection of the strut. The main objective of this work is to design an efficient active suspension control for a full car model with 8-Degrees Of Freedom (DOF) using adaptive soft-computing technique. So, in this study, an Adaptive Neuro-Fuzzy based Sliding Mode Control (ANFSMC) strategy is used for full car active suspension control to improve the ride comfort and vehicle stability. The detailed mathematical model of ANFSMC has been developed and successfully applied to a full car model. The robustness of the presented ANFSMC has been proved on the basis of different performance indices. The analysis of MATLAB/SMULINK based simulation results reveals that the proposed ANFSMC has better ride comfort and vehicle handling as compared to Adaptive PID (APID), Adaptive Mamdani Fuzzy Logic (AMFL), passive, and semi-active suspension systems. The performance of the active suspension has been optimized in terms of displacement of seat, heave, pitch, and roll.

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Multi-Object Control of Active Suspension Subject to Parameter Uncertainties under Non-Stationary Running

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.224.440 ◽

2012 ◽

Vol 224 ◽

pp. 440-443

Author(s):

Li Ping Zhang ◽

Li Xin Guo

Keyword(s):

Ride Comfort ◽

Active Suspension ◽

State Feedback Control ◽

Parameter Uncertainties ◽

Suspension Systems ◽

Active Suspension Systems ◽

Hard Constraints ◽

Feedback Control Strategy ◽

Control Forces ◽

And Control

Based on the building of non-stationary road surface excitation mode, a study on the active suspension control under non-stationary running condition was conducted using control, state feedback control strategy for linear systems with time-domain hard constraints was propose. The proposed approach was applied to design active suspension systems on the basis of a two-degree-of-freedom quarter car mode, Simulation results show that the proposed constrained controller can achieve a promising improvement on ride comfort, while keeping dynamic suspension deflections, dynamic tire loads and control forces within given bounds, even non-stationary running.

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Application of Constrained H∞ Control to Active Suspension Systems on Half-Car Models

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.1985442 ◽

2004 ◽

Vol 127 (3) ◽

pp. 345-354 ◽

Cited By ~ 43

Author(s):

H. Chen ◽

Z. -Y. Liu ◽

P. -Y. Sun

Keyword(s):

Ride Comfort ◽

Active Suspension ◽

Disturbance Attenuation ◽

Linear Matrix ◽

Actuator Dynamics ◽

Lmi Optimization ◽

Suspension Systems ◽

Active Suspension Systems ◽

Hard Constraints ◽

And Control

This paper formulates the active suspension control problem as disturbance attenuation problem with output and control constraints. The H∞ performance is used to measure ride comfort such that more general road disturbances can be considered, while time-domain hard constraints are captured using the concept of reachable sets and state-space ellipsoids. Hence, conflicting requirements are specified separately and handled in a nature way. In the framework of Linear Matrix Inequality (LMI) optimization, constrained H∞ active suspensions are designed on half-car models with and without considering actuator dynamics. Analysis and simulation results show a promising improvement on ride comfort, while keeping suspension strokes and control inputs within bounds and ensuring a firm contact of wheels to road.

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