scholarly journals RESEARCH ON DESIGN AND HYBRID SLIDING MODE CONTROL OF HIGH CLEARANCE SELF-PROPELLED SPRAYER CHASSIS AIR SUSPENSION

2020 ◽  
Vol 61 (2) ◽  
pp. 115-126
Author(s):  
Yu Chen ◽  
Jun Chen ◽  
Wei Li ◽  
Shuo Zhang ◽  
Hui Xia ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
Operating Efficiency ◽  
Road Transportation ◽  
Characteristic Analysis ◽  
Mode Control ◽  
Air Suspension ◽  
High Clearance

According to the operation characteristics of high clearance self-propelled sprayer, an independent vertical shaft air suspension system with auxiliary chamber was designed. On the basis of the damping characteristic analysis and experiment of the air suspension with auxiliary chamber, the sprayer suspension control strategy was developed. Aiming at strong non-linearity and hysteresis for air suspension with auxiliary chamber, and when the sprayer performed road transportation and spraying operation, there was a contradiction between ride comfort and road friendliness, a hybrid sliding mode control method for sprayer chassis suspension based on skyhook reference sliding mode and ground-hook reference sliding mode was proposed. Finally, Matlab/Simulink was used to analyse the effect of the control method in different mixing coefficients. The simulation results showed that according to the requirements of different working conditions of the sprayer, by properly selecting the mixing coefficient γ value, the hybrid sliding mode control could simultaneously take into account the sprayer ride comfort and road friendliness, which was important to improve the sprayer overall performance and operating efficiency.

scholarly journals Nonlinear adaptive sliding-mode control of the electronically controlled air suspension system

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141988152
Author(s):  
Bai Rui
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Parameter Uncertainties ◽  
Nonlinear Dynamical ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Air Suspension ◽  
Electronically Controlled Air Suspension

Recent years, electronically controlled air suspension has been widely used in vehicles to improve the riding comfort and the road holding ability. This article presents a new nonlinear adaptive sliding-mode control method for electronically controlled air suspension. A nonlinear dynamical model of electronically controlled air suspension is established, where the nonlinear dynamical characteristic of the air spring is considered. Based on the proposed nonlinear dynamic model, an adaptive sliding-mode control method is presented to stabilize the displacement of electronically controlled air suspension in the presence of parameter uncertainties. Parameter adaptive laws are designed to estimate the unknown parameters in electronically controlled air suspension. Stability analysis of the proposed nonlinear adaptive sliding-mode control method is given using Lyapunov stability theory. At last, the reliability of the proposed control method is evaluated by the computer simulation. Simulation research shows that the proposed control method can obtain the satisfactory control performance for electronically controlled air suspension.

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

2019 ◽  
Vol 31 (1) ◽  
pp. 95-103 ◽  
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.

Robust Sliding Mode Control of a Full Vehicle Without Suspension Gap Loss

2005 ◽  
Vol 11 (11) ◽  
pp. 1357-1374 ◽  
Author(s):  
N. Yagiz ◽  
L. E. Sakman
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
The Body ◽  
Vehicle Body ◽  
New Approach ◽  
Full Vehicle ◽  
Mode Control

A seven-degrees-of-freedom full vehicle model is used to design a robust controller and to investigate the performance of active suspensions without losing the suspension working space. Zero reference for vehicle body displacement finishes suspension working distance. Thus, a new approach is suggested in this paper. Force actuators are placed parallel to the suspensions and non-chattering sliding mode control is applied. Since any change in vehicle parameters because of different load or road conditions adversely affects the performance of the ordinary control methods, a robust control method is preferred. To obtain the desired improvement in ride comfort, we aim to decrease the magnitudes of the body vibrations and their accelerations. We present body bounce, pitch and roll motions of the vehicle with the conventional approach and the proposed approach without suspension gap loss, both in the time domain in the case of traveling over a step road profile and in the frequency domain. The results of both approaches are compared. The solution to the suspension gap loss problem has also been presented on periodic road surfaces. At the end of the paper, we discuss the improvement in the performance of the new controller with its robust behavior and the advantage of the new approach.

A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law

2014 ◽  
Vol 39 (9) ◽  
pp. 1552-1557 ◽  
Author(s):  
Xi LIU ◽  
Xiu-Xia SUN ◽  
Wen-Han DONG ◽  
Peng-Song YANG
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Mode Control

Fractional Dynamic Sliding Mode Control for uncertain chaotic systems Applied to a Chaotic Robot arm under dynamic load.

2020 ◽  
Vol 10 ◽  
Author(s):  
Sara Gholipour P ◽  
Sara Minagar ◽  
Javad Kazemitabar ◽  
Mobin Alizadeh
Keyword(s):  
Sliding Mode Control ◽  
Chaotic Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Qualitative And Quantitative ◽  
Mode Control ◽  
Quantitative Characteristics ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode ◽  
Qualitative And Quantitative Characteristics

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

scholarly journals Backstepping Sliding-Mode Control of Piezoelectric Single-Piston Pump-Controlled Actuator

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 154
Author(s):  
Bin Wang ◽  
Pengda Ren ◽  
Xinhao Huang
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Piezoelectric Pump ◽  
Mode Control ◽  
Control Precision ◽  
Backstepping Sliding Mode Control ◽  
Actuator System ◽  
The Mathematical Model

A piston piezoelectric (PZT) pump has many advantages for the use of light actuators. How to deal with the contradiction between the intermittent oil supplying and position control precision is essential when designing the controller. In order to accurately control the output of the actuator, a backstepping sliding-mode control method based on the Lyapunov function is introduced, and the controller is designed on the basis of establishing the mathematical model of the system. The simulation results show that, compared with fuzzy PID and ordinary sliding-mode control, backstepping sliding-mode control has a stronger anti-jamming ability and tracking performance, and improves the control accuracy and stability of the piezoelectric pump-controlled actuator system.

Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

2009 ◽  
Vol 223 (6) ◽  
pp. 785-795 ◽  
Author(s):  
D W Qian ◽  
X J Liu ◽  
J Q Yi
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Sliding Surface ◽  
Nominal System ◽  
Sliding Surfaces ◽  
Mode Control ◽  
Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

Suppression of heavy-truck driver-seat vibration using sliding-mode control and quantitative feedback theory

2007 ◽  
Vol 221 (5) ◽  
pp. 769-779
Author(s):  
N. I. Rajapakse ◽  
G. S. Happawana ◽  
Y Hurmuzlu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Optimization Methods ◽  
Heavy Vehicle ◽  
Quantitative Feedback Theory ◽  
Mode Control ◽  
Smooth Tracking ◽  
Noise Amplification ◽  
Seat Vibration

The current paper presents a robust control method that combines sliding-mode control (SMC) and quantitative feedback theory (QFT) for designing a driver seat of a heavy vehicle to reduce driver fatigue. A mathematical model is considered to analyse tracking control characteristics through computer simulation in order to demonstrate the effectiveness of the proposed control methodology. The SMC is used to track the trajectory of the desired motion behaviour of the seat. However, when the system enters into sliding regime, chattering occurs owing to switching delays as well as vehicle system vibrations. The chattering is eliminated with the introduction QFT inside the boundary layer to ensure smooth tracking. Furthermore, using SMC alone requires higher actuator forces for tracking than using both the control schemes together, and causes various problems in selecting hardware. Problems with noise amplification, resonances, presence of uncertainties, and unmodelled high-frequency dynamics can largely be avoided with the use of QFT over other optimization methods. The main contribution of the present paper is to provide guidance in designing the controller to reduce heavy vehicle seat vibration so that the driver's sensation of comfort maintains a certain level at all times.

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