scholarly journals Design of Novel BELBIC Controlled Semi-Active Suspension and Comparative Analysis with Passive and PID Controlled Suspension

2021 ◽  
Vol 18 (5) ◽  
Author(s):  
Pankaj SHARMA ◽  
Vinod KUMAR
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Active Suspension ◽  
Driver Model ◽  
Ride Quality ◽  
Body Parts ◽  
Hybrid Techniques ◽  
Design Engineers ◽  
Mass Displacement

Passenger comfort, quality of ride, and handling have broughta lot of attention and concern toautomotive design engineers. These 2 parameters must have optimum balance as they have an inverse effect on each other. Researchers have proposed several approaches and techniques like PID control, fuzzy approach, GA, techniques with inspiration from nature and hybrid techniques to attain the same. A new controller based on the learning behavior of the human brain has been used for the control of semi-active suspension in this study. The controller is known as the Brain Emotional Learning-Based Intelligent Controller (BELBIC). A one-fourth model of car along with the driver model having 6 degrees of freedom (DOF) wasmodeled and simulated. The objective of the studywasto analyze the performance of the proposed controller for improving the dynamic response of the vehicle model coupled with complex biodynamic models of the human body as a passenger, making the whole dynamic system very complex to control. The performance wasanalyzed based on percentage reduction in the overshoot of the vehicle’s sprung mass as well as different human body parts when subjected to road disturbances. The proposed controller performance wascompared with the PID controller, widely used in semi-active suspension. The simulation results obtained for BELBIC controlled system for circular road bump showed that the overshoot of passenger head and body wasreduced by 18.84 and 18.82 %, respectively and reduction for buttock and leg displacement was18.87 %. The vehicle’s seat and sprung mass displacement displayedan improvement of 18.90 and 18.51 %. The overshoot of passenger's head and body displacement wasimproved by 19.79and 19.62 %,respectively, whereas improvement for buttock & leg, vehicle’s seat, and sprung mass displacement were19.81, 20.00, and 20.49 % against trapezoidal speed bump. The PID controlled suspension disclosed an improvement of 8.74, 8.53, 8.75, 11.11, 14.75 % against circular bump and 10.72, 10.33, 10.73, 11.11 and 11.75 % against trapezoidal bump for overshoot reduction of passenger head, body, buttock & leg, vehicle’s seat and sprung mass displacement, respectively. The proposed BELBIC controlled semi-active suspension outperformed the widely used PID controlled semi-active suspension and indicated asignificant improvement in the ride quality of the vehicle.

Hybrid Skyhook-Stability Augmentation System for Ride Quality Improvement of Railway Vehicle

2014 ◽  
Vol 663 ◽  
pp. 141-145
Author(s):  
Mohd Hanif Harun ◽  
W.Mohd Zailimi Wan Abdullah ◽  
Hishamuddin Jamaluddin ◽  
Roslan Abd Rahman ◽  
Khisbullah Hudha
Keyword(s):  
Degrees Of Freedom ◽  
Active Suspension ◽  
Sine Wave ◽  
Vehicle Body ◽  
Ride Quality ◽  
Railway Vehicle ◽  
Suspension Systems ◽  
Stability Augmentation ◽  
Ride Control

This paper is aimed to show the improvement of ride quality of railway vehicle with semi-active suspension systems. The dynamics of nine degrees-of-freedom (9-DOF) railway vehicle model is developed consists of a vehicle body, two bogies and four wheel-set. The disturbance considered is track irregularity which is modelled as a sine wave. The control algorithm for the semi-active suspension system is developed based on Stability Augmentation System (SAS) integrated with skyhook controller to reduce the effect of track disturbance. The performances of passive and semi-active suspension are compared by simulation using MATLAB-SIMULINK software. The results of the study show that the proposed controller is able to significantly improve ride quality of railway vehicle body. It is also noted that the additional ride control loop which is skyhook control is able to further improve the performance of SAS controller for the system.

The improvement of ride quality of tractor using semi-active suspension

2002 ◽  
Vol 2002.77 (0) ◽  
pp. _12-27_-_12-28_
Author(s):  
Takayuki KOIZUMI ◽  
Nobutaka TSUJIUCHI ◽  
Yoshifumi NABESHIMA ◽  
Tomoyuki JINDE ◽  
Eiichi ISHIDA
Keyword(s):  
Active Suspension ◽  
Ride Quality

scholarly journals The Design of LQG Controller for Active Suspension Based on Analytic Hierarchy Process

2010 ◽  
Vol 2010 ◽  
pp. 1-19 ◽  
Author(s):  
Lingjiang Chai ◽  
Tao Sun
Keyword(s):  
Analytic Hierarchy Process ◽  
Degrees Of Freedom ◽  
Active Suspension ◽  
Ride Quality ◽  
Linear Quadratic ◽  
Analytic Hierarchy ◽  
Performance Indexes ◽  
Suspension Control ◽  
Hierarchy Process ◽  
Selection Of

A full vehicle model with seven degrees of freedom based on active suspension control is established, and linear quadratic gaussian (LQG) is designed by applying optimal control theory. Especially, the methodology of Analytic Hierarchy Process (AHP) is used to make the selection of weighted coefficients of performance indexes, which can reduce ineffective job in contrast with experience method. From the simulation results, it is shown that ride quality of the vehicle with active suspension has been effectively improved in comparison with the vehicle of passive suspension by the methodology of AHP applying to the selection of the weights.

SLIDING MODE CONTROL OF ER SEAT SUSPENSION CONSIDERING HUMAN VIBRATION MODEL

2005 ◽  
Vol 19 (07n09) ◽  
pp. 1689-1695 ◽  
Author(s):  
Y. M. HAN ◽  
J. Y. JUNG ◽  
S. B. CHOI ◽  
N. M. WERELEY
Keyword(s):  
Human Body ◽  
Sliding Mode ◽  
Suspension System ◽  
Driver Model ◽  
Ride Quality ◽  
Human Body Model ◽  
Parameter Uncertainties ◽  
Damping Force ◽  
Seat Suspension ◽  
Vibration Model

This paper presents robust control performances of a semi-active electro-rheological (ER) seat suspension incorporating vibration model of human-body. A cylindrical type of ER seat damper is manufactured for a commercial vehicle seat suspension system and its field-dependent damping force is experimentally evaluated. A human-body model is then derived and integrated with the governing equations of the ER seat suspension system. The integrated seat-driver model featured by a high order degree-of-freedom (DOF) is reduced through a balanced model reduction to design robust controller. By imposing semi-active actuating conditions, a sliding mode controller which is very robust to external disturbances and parameter uncertainties is synthesized and experimentally realized with the state observer. In the experimental configuration, a driver directly sits on the controlled seat. Control results for ride quality considering response of each human body segment are evaluated in both time and frequency domains. In addition, a comparison of the proposed semi-active ER seat suspension to a conventional passive seat suspension system is undertaken.

Balance Maintaining by Human

2016 ◽  
Vol 248 ◽  
pp. 155-160
Author(s):  
Andrzej Kot ◽  
Agata Nawrocka
Keyword(s):  
Nervous System ◽  
Human Body ◽  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Balance Control ◽  
Human Motion ◽  
The Body ◽  
Posture Control ◽  
Body Parts ◽  
Receptor System

Harmonious cooperation of the skeletal, muscular and nervous systems, forming a human motion organ, is responsible for all undertaken movement activities. Motion organ in the illustrated embodiment responsible not only for two basic motion activities, locomotion and manipulation, but also for maintaining the posture of the human body. Standing posture control makes a particular dimension of physical activity, because correct, stable posture determines the ability to perform most human movements. In the case of a man to maintain a balance in a standing position seems to be something obvious and does not require much effort, but with the advent of lesions or aging we begin to see how complex it is the process of balance control. The changes lead to impaired balance control which in turn can lead to the appearance of postural instability and in extreme circumstances, even to collapse. Maintaining a stable posture it is primarily associated with motor control provided by the human nervous system. The nervous system acts as an posture control system and most of all giving to a body well-defined silhouette. This control relies heavily on the integration of information from the human receptor system. Muscle, joint, tendon and skin receptors communicate first to the brain information about the movement and position of individual body parts and then feedback these signals to the muscles, causing reflex reactions allowing for correction of posture and thus return the center of gravity to a position that maintaining equilibrium. Subdivide those human body into segments linked closely with the system osteoarthritis limbs and trunk can create a system of interconnected pendulums with many degrees of freedom. In the case of standing it will be largely complicated inverted pendulums system by which activities phenomena associated with maintaining balance and locomotion can be modeled. If additionally in an upright position, taking into account the natural motion restrictions movements in all joints except the ankles will be blocked, the body will be a close approximation behave like a rigid body. So we can assume that for supporting the human body at the ankle, it will behave like an inverted pendulum. The article presents the ways of describing the equilibrium of man as an inverted pendulum.

Simulation of Quarter-Car Model with Magnetorheological Dampers for Ride Quality Improvement

2018 ◽  
Vol 10 (3) ◽  
Author(s):  
Sunil Kumar Sharma ◽  
Rakesh Chandmal Sharma
Keyword(s):  
Degrees Of Freedom ◽  
Active Suspension ◽  
Suspension System ◽  
Ride Quality ◽  
Bingham Model ◽  
Passive Suspension ◽  
Quarter Car Model ◽  
Car Model ◽  
Passive Suspension System ◽  
Quarter Car

A semi-active suspension system using Magnetorheological (MR) damper overcomes all the inherent limits of passive and active suspension systems and combines the advantages of both. This paper gives a concise introduction to the suspension system of a passenger vehicle which is presented along with the analysis of semi-active suspension system using MR fluid dampers based on Bingham model. MR dampers are filled with MR fluids whose properties can be controlled by applying voltage signal. To further prove the statement, a quarter car model with two degrees of freedom has been used for modeling the suspension system the sprung mass acceleration of passive suspension system has been compared with the semi-active suspension system using the Bingham model for MRF damper. Simulink/MATLAB is used to carry out the simulation. The results drawn show that the semi-active suspension system performed better than the passive suspension system in terms of vehicle stability.

General Perspectives on Electromyography Signal Features and Classifiers Used for Control of Human Arm Prosthetics

2019 ◽  
pp. 1-17
Author(s):  
Faruk Ortes ◽  
Derya Karabulut ◽  
Yunus Ziya Arslan
Keyword(s):  
Human Body ◽  
Assistive Technologies ◽  
The Body ◽  
Body Parts ◽  
Daily Lives ◽  
Signal Features ◽  
Human Arm ◽  
Handicapped People ◽  
Physically Handicapped

Physically handicapped people encounter various kinds of obstacles and difficulties in their daily lives due to the restricted ability of motion. Assistive technologies represent a crucial challenge of scientific studies to overcome such an issue of reducing quality of life. Assistive devices such as wheelchairs, orthoses, and prostheses are designed and built to contribute rehabilitation progress and to regain lost functions. Although human body parts have intricate forms and functions, artificial devices and components integrating to the body are anticipated to compensate the fundamental functions related to user's demands. Upper- or lower-arm amputations also result in severe cosmetic matters. However, what is more important and obtrusive is the loss of primary functions including manipulating and grasping the objects besides the locomotor tasks which are performed by the human body during daily activity.

Driving Torsion Scans with Wavefront Propagation

2020 ◽  
Author(s):  
Yudong Qiu ◽  
Daniel Smith ◽  
Chaya Stern ◽  
mudong feng ◽  
Lee-Ping Wang
Keyword(s):  
Potential Energy ◽  
Force Field ◽  
Degrees Of Freedom ◽  
Computational Cost ◽  
Initial Guess ◽  
Field Development ◽  
Force Field Development ◽  
Wavefront Propagation ◽  
Open Source Software Package

<div>The parameterization of torsional / dihedral angle potential energy terms is a crucial part of developing molecular mechanics force fields.</div><div>Quantum mechanical (QM) methods are often used to provide samples of the potential energy surface (PES) for fitting the empirical parameters in these force field terms.</div><div>To ensure that the sampled molecular configurations are thermodynamically feasible, constrained QM geometry optimizations are typically carried out, which relax the orthogonal degrees of freedom while fixing the target torsion angle(s) on a grid of values.</div><div>However, the quality of results and computational cost are affected by various factors on a non-trivial PES, such as dependence on the chosen scan direction and the lack of efficient approaches to integrate results started from multiple initial guesses.</div><div>In this paper we propose a systematic and versatile workflow called \textit{TorsionDrive} to generate energy-minimized structures on a grid of torsion constraints by means of a recursive wavefront propagation algorithm, which resolves the deficiencies of conventional scanning approaches and generates higher quality QM data for force field development.</div><div>The capabilities of our method are presented for multi-dimensional scans and multiple initial guess structures, and an integration with the MolSSI QCArchive distributed computing ecosystem is described.</div><div>The method is implemented in an open-source software package that is compatible with many QM software packages and energy minimization codes.</div>

The Development of a Myoelectric Training Tool for Above-Elbow Amputees

2012 ◽  
Vol 6 (1) ◽  
pp. 5-15 ◽  
Author(s):  
Michael R Dawson ◽  
Farbod Fahimi ◽  
Jason P Carey
Keyword(s):  
Degrees Of Freedom ◽  
Learning Task ◽  
Robotic Arm ◽  
Signal Acquisition ◽  
Myoelectric Prosthesis ◽  
Training Tool ◽  
Myoelectric Prostheses ◽  
Training Systems ◽  
Targeted Muscle Reinnervation

The objective of above-elbow myoelectric prostheses is to reestablish the functionality of missing limbs and increase the quality of life of amputees. By using electromyography (EMG) electrodes attached to the surface of the skin, amputees are able to control motors in myoelectric prostheses by voluntarily contracting the muscles of their residual limb. This work describes the development of an inexpensive myoelectric training tool (MTT) designed to help upper limb amputees learn how to use myoelectric technology in advance of receiving their actual myoelectric prosthesis. The training tool consists of a physical and simulated robotic arm, signal acquisition hardware, controller software, and a graphical user interface. The MTT improves over earlier training systems by allowing a targeted muscle reinnervation (TMR) patient to control up to two degrees of freedom simultaneously. The training tool has also been designed to function as a research prototype for novel myoelectric controllers. A preliminary experiment was performed in order to evaluate the effectiveness of the MTT as a learning tool and to identify any issues with the system. Five able-bodied participants performed a motor-learning task using the EMG controlled robotic arm with the goal of moving five balls from one box to another as quickly as possible. The results indicate that the subjects improved their skill in myoelectric control over the course of the trials. A usability survey was administered to the subjects after their trials. Results from the survey showed that the shoulder degree of freedom was the most difficult to control.

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