Combined CNF with LQR in Improving Ride and Handling for Ground Vehicle

2014 ◽  
Vol 575 ◽  
pp. 749-752 ◽  
Author(s):  
Noraishikin Zulkarnain ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Dynamic Modelling ◽  
Performance Comparison ◽  
Roll Angle ◽  
Vehicle Body ◽  
Nonlinear Feedback ◽  
Linear Quadratic ◽  
Composite Nonlinear Feedback ◽  
Roll Rate

This paper presents and analyses a performance comparison between a Linear Quadratic Regulator (LQR) and Composite Nonlinear Feedback (CNF) controllers for an active anti-roll bar (ARB) system. The anti-roll bar system has to balance the trade-off involving ride comfort and handling performance. The basic vehicle dynamic modelling with four degree of freedom (DOF) on half car model is proposed. The design model is validity and the performances of roll angle and roll rate under control of LQR and CNF controller are achieved by using simulation analysis. Both two controllers are modeled in MATLAB/SIMULINK environment. It has to be determined which control strategy delivers better performance with respect to roll angle and the roll rate of half vehicle body to achieve this goal. The result shows, the CNF LQR fusion control strategy improve the performance compared to LQR and CNF control strategy.

LQG Control Design for Vehicle Active Anti-Roll Bar System

2014 ◽  
Vol 663 ◽  
pp. 146-151 ◽  
Author(s):  
Noraishikin Zulkarnain ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan
Keyword(s):  
Ride Comfort ◽  
Simulation Analysis ◽  
Control Strategies ◽  
Dynamic Modelling ◽  
Linear Quadratic Regulator ◽  
Vehicle Body ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Roll Rate ◽  
External Forces

The objective of this paper is to design a linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controllers for an active anti-roll bar system. The use of an active anti-roll bar will be analysed from two different perspectives in vehicle ride comfort and handling performances. This paper proposed the basic vehicle dynamic modelling with four degree of freedom (DOF) on half car model and are described that show, why and how it is possible to control the handling and ride comfort of the car, with the external forces also control strategies on the front anti-roll bar. By simulation analysis, the design model is validity and the performance under control of linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controller are achieved. Both two controllers are modeled in MATLAB/SIMULINK environment. It has to be determined which control strategy delivers better performance with respect to roll angle and the roll rate of half vehicle body. The result shows, however, that LQG produced better response compared to a LQR strategy.

Composite Nonlinear Feedback with Disturbance Observer for Active Front Steering

2017 ◽  
Vol 7 (2) ◽  
pp. 434 ◽  
Author(s):  
Sarah 'Atifah Saruchi ◽  
Hairi Zamzuri ◽  
Noraishikin Zulkarnain ◽  
Norbaiti Wahid ◽  
Mohd Hatta Mohammed Ariff
Keyword(s):  
Control Strategy ◽  
Disturbance Observer ◽  
Linear Quadratic Regulator ◽  
Nonlinear Feedback ◽  
Linear Quadratic ◽  
Composite Nonlinear Feedback ◽  
Yaw Rate ◽  
Active Front Steering ◽  
J Curve ◽  
Tracking Response

<p>One of the dominant virtue of Steer-By-Wire (SBW) vehicle is its capability to enhance handling performance by installing Active Front Steering (AFS) system without the driver’s interferences. Hence, this paper introduced an AFS control strategy using the combination of Composite Nonlinear Feedback (CNF) controller and Disturbance Observer (DOB) to achieve fast yaw rate tracking response which is also robust to the existence of disturbance. The proposed control strategy is simulated in J-curve and Lane change manoevres with the presence of side wind disturbance via Matlab/Simulink sotware. Futhermore, comparison with Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are also conducted to evaluate the effectiveness of the proposed controller. The results showed that the combined CNF and DOB strategy achieved the fastest yaw rate tracking capability with the least impact of disturbance in the AFS system installed in SBW vehicle.</p>

scholarly journals An LQG Controller Based on Real System Identification for an Active Hydraulically Interconnected Suspension

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Yaohua Guo ◽  
Bin Wang ◽  
Anton Tkachev ◽  
Nong Zhang
Keyword(s):  
Transfer Function ◽  
Physical Model ◽  
Hidden Variables ◽  
Roll Angle ◽  
Ball Screw ◽  
Vehicle Body ◽  
Linear Quadratic ◽  
Rollover Prevention ◽  
Body Roll ◽  
Optimal Linear

Rollover prevention is always one of the research hotspots in vehicle design. Active hydraulically interconnected suspension (HIS) is a promising technology to reduce vehicle body roll angle caused by different driving inputs and road conditions. This paper proposes a novel actuator of the active HIS system. The actuator consists of two cylinders, a ball screw, and only one motor. The actuator proposed can reduce the number of motors needed in the system. Meanwhile, forced vibration identification (FVI) is used to identify the transfer function of a half-car physical model and a Kalman state observer is applied to eliminate the influence of sensor noise. The FVI method can eliminate most model uncertainties and hidden variables. Aggressive and moderate optimal linear quadratic Gaussian (LQG) methods are implemented to control the motion of the vehicle body based on the identified transfer function of the physical model. The performance of an active HIS system with an aggressive and moderate LQG controller is compared with that of a passive HIS system. The effectiveness of the LQG controller is validated by simulation and experimental results. Also, the obtained results show that the stabilization speed of the active HIS system is 20% faster than that of the passive HIS system and the roll angle can be reduced up to 55% than that of the passive HIS system.

Wheel Synchronization Control in Steer-by-Wire Using Composite Nonlinear Feedback

2014 ◽  
Vol 575 ◽  
pp. 762-765 ◽  
Author(s):  
Sarah Atifah Saruchi ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan ◽  
Sheikh Muhammad Hafiz Fahami ◽  
Noraishikin Zulkarnain
Keyword(s):  
Control Strategy ◽  
Front Wheel ◽  
Linear Feedback ◽  
Steering Wheel ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Control Laws ◽  
Simulation Based ◽  
Steer By Wire ◽  
Rising Time

This paper proposes a new control strategy to ensure the steering wheel and front wheel synchronization in Steer-by-Wire (SBW) using a Composite Nonlinear Feedback (CNF) controller. CNF is a combination of linear and non-linear feedback control laws. This controller is designed in order to minimize the delay in settling time, achieve fast rising time and lower the overshoot for the front wheel response. A simulation based on this control strategy was made and compared to analyze the system performance.

IMPLEMENTATION OF ROBUST COMPOSITE NONLINEAR FEEDBACK FOR ACTIVE FRONT STEERING BASED VEHICLE YAW STABILITY

2017 ◽  
Vol 79 (5-2) ◽  
Author(s):  
Mohd Hanif Che Hasan ◽  
Yahaya Md Sam ◽  
Muhamad Khairi Aripin ◽  
Mohamad Haniff Harun ◽  
Syahrul Hisham Mohamad
Keyword(s):  
Control System ◽  
Tracking Error ◽  
Reference Signal ◽  
Vehicle Body ◽  
Wind Disturbance ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Fast Tracking ◽  
Active Front Steering ◽  
Yaw Stability

In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering (AFS) vehicle system for yaw stability control. In this control system, the main objective is to get excellent transient response of vehicle yaw rate and at the same time resist to side wind disturbance. To cater unknown constant disturbance, non-integral function for Robust CNF version is used. Meanwhile for vehicle model, 7 degree of freedom vehicle body with Pacejka Tire formula model for typical passenger car is used to simulate controlled vehicle. The computer simulation by Matlab software is performed to evaluate the system performance in J-Turn and Single sine steer with magnitude from 1 to 3.1 degree with additional 400 Nm external side wind disturbance. By using typical Proportional Integration and Derivative (PID) control auto-tuned by Matlab as comparison, the new designed controller demonstrates higher capability to track reference signal faster and having minimal tracking error during disturbance occur where having less than 0.01 degree compared 0.22 degree by PID. The Robust CNF based designed control system is able to compensate disturbance effect efficiently and also has super-fast tracking as classical CNF.

scholarly journals Hardware in the Loop Testing of Adaptive Inertia Weight PSO-Tuned LQR Applied to Vehicle Suspension Control

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Joshua Sunder David Reddipogu ◽  
Vinodh Kumar Elumalai
Keyword(s):  
Optimization Problem ◽  
Ride Comfort ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Vehicle Body ◽  
Linear Quadratic ◽  
Body Acceleration ◽  
Inertia Weight ◽  
Optimal Weights ◽  
Road Profile

This paper presents an adaptive inertia weight particle swarm optimization (AIWPSO) employed for solving the multiobjective weight optimization problem of LQR applied for the vehicle active suspension system (ASS). To meet the competing control objectives of ASS including the ride comfort, road handling, and suspension travel, the state feedback controller design for ASS is formulated as an optimization problem and an improved PSO is employed for finding the optimal weights of the linear-quadratic regulator (LQR). Specifically, for solving the premature convergence of the particles and imbalance between exploration and exploitation capabilities of PSO, an adaptive inertia weight that updates the velocity of the particles based on the success rate is used. The efficacy of the AIWPSO-tuned LQR is experimentally tested on a quarter-car ASS plant using the hardware in loop (HIL) testing for an uneven road surface. Experimental results highlight that, compared to conventional PSO-tuned LQR, the proposed scheme can significantly minimize the vehicle body acceleration due to irregular road profile while guaranteeing the minimum tire friction for passenger safety. The ISO 2361-1 standards adopted to evaluate the ride and health criteria substantiate that the proposed scheme reduces the vibration dose value by 25.34% for a bumpy road profile. Moreover, the cumulative power spectral density (CPSD) of vehicle body acceleration assessed in both low- and high-frequency regions manifests the significant improvement in the ride comfort.

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.

scholarly journals Predictive Control Using Active Aerodynamic Surfaces to Improve Ride Quality of a Vehicle

Electronics ◽  
2020 ◽  
Vol 9 (9) ◽  
pp. 1463
Author(s):  
Ejaz Ahmad ◽  
Jamshed Iqbal ◽  
Muhammad Arshad Khan ◽  
Wu Liang ◽  
Iljoong Youn
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Ride Comfort ◽  
Tracking Error ◽  
Vehicle Body ◽  
Ride Quality ◽  
Radius Of Curvature ◽  
Attitude Motion ◽  
Road Disturbance ◽  
Aerodynamic Surfaces

This work presents a predictive control strategy for a four degrees of freedom (DOF) half-car model in the presence of active aerodynamic surfaces. The proposed control strategy consists of two parts: the feedback control deals with the tracking error while the feedforward control handles the anticipated road disturbance and ensures the desired maneuvering. The desired roll and pitch angles are obtained by using disturbance, vehicle speed and radius of curvature. The proposed approach helps the vehicle to achieve better ride comfort by suppressing the amplitude of vibrations occurring in the vertical motion of the vehicle body, and enhances the road-holding capability by overcoming the amplitude of vibrations in tyre deflection. The control strategy also cancels out the hypothetical forces acting on the vehicle body to help the vehicle to track the desired attitude motion without compromising the ride comfort and road-holding capability. The simulations results show that the proposed control strategy successfully reduces the root mean square error (RMSE) values of sprung mass acceleration as well as tyre deflection.

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