scholarly journals ANFIS-PID Control of Active Suspension for the Full-Scale Straddle Monorail Model

Mechanika ◽  
2020 ◽  
Vol 26 (4) ◽  
pp. 311-317
Author(s):  
Liang XIN
Keyword(s):  
Angular Velocity ◽  
Ride Comfort ◽  
Fuzzy Inference ◽  
Angular Acceleration ◽  
Active Suspension ◽  
Vertical Vibration ◽  
Full Scale ◽  
Vibration Velocity ◽  
Vertical Acceleration ◽  
Inference System

In order to improve the ride comfort straddle-type monorail, based on the full-scale straddle-type monorail model with 38-DOF, combined with the modular control thought and adaptive neural fuzzy inference system(ANFIS) control theory, the ANFIS-PID controller is designed, in which the vertical vibration velocity and acceleration, pitching angular velocity and angular acceleration, rolling angular velocity and angular acceleration are taken as inputs and the actuator force of active suspension as outputs. The results show that compared with existing passive suspension, the root mean squared values(RMS) of vertical acceleration, pitching angular acceleration and rolling angular acceleration of active suspension is significantly reduced, respectively. And the vibration amplitude below 10Hz frequency range is suppressed, which is the human sensitivity frequency. Active suspension controlled by ANFIS-PID can be used as a way to improve the ride comfort of straddle monorail vehicles.  

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 Dynamic performance analysis and parameters perturbation study of inerter–spring–damper suspension for heavy vehicle

2020 ◽  
pp. 146134842096289
Author(s):  
Xiaofeng Yang ◽  
Long Yan ◽  
Yujie Shen ◽  
Hongchang Li ◽  
Yanling Liu
Keyword(s):  
Ride Comfort ◽  
Dynamic Performance ◽  
Low Frequency ◽  
Angular Acceleration ◽  
Vertical Vibration ◽  
Heavy Vehicle ◽  
The Road ◽  
Multi Objective Genetic Algorithm ◽  
Parameters Perturbation ◽  
Dynamic Performance Analysis

Inerter, a new type of mass element, can increase the inertia of motion between two endpoints. In order to study the dynamic inertia effect of inerter–spring–damper suspension for heavy vehicle on ride comfort and road friendliness, the inerter–spring–damper suspension is applied and its mechanism is studied. This paper establishes a half vehicle model of inerter–spring–damper suspension for heavy vehicle. The parameters of inerter–spring–damper suspension for heavy vehicle are optimized by multi-objective genetic algorithm and system simulations are carried out. The parametric influence of different spring stiffness, damping coefficient, inertance, and load on suspension performance is also studied. The simulation results demonstrate that the centroid acceleration and pitch angular acceleration are improved by 24.90% and 23.54%, respectively, and the comprehensive road damage coefficient is reduced by 4.05%. The results illustrate that the inerter–spring–damper suspension can decrease the vertical vibration of vehicle suspension especially in low frequency and reduce the road damage. The analyses of suspension parameters perturbation reveal their different effect laws of the different wheels on vehicle ride comfort and road friendliness, which provide a theoretical basis for setting parameters of inerter–spring–damper suspension.

Analytical and Experimental Evaluation of Various Active Suspension Alternatives for Superior Ride Comfort and Utilization of Autonomous Vehicles

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Ivan Cvok ◽  
Mario Hrgetić ◽  
Matija Hoić ◽  
Joško Deur ◽  
Davor Hrovat ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
High Performance ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Vertical Acceleration ◽  
Linear Quadratic ◽  
Seat Suspension ◽  
Road Disturbance

Abstract Autonomous vehicles (AVs) give the driver opportunity to engage in productive or pleasure-related activities, which will increase AV’s utility and value. It is anticipated that many AVs will be equipped with active suspension extended with road disturbance preview capability to provide the necessary superior ride comfort resulting in almost steady work or play platform. This article deals with assessing the benefits of introducing various active suspensions and related linear quadratic regulator (LQR) controls in terms of improving the work/leisure ability. The study relies on high-performance shaker rig-based tests of a group of 44 drivers involved in reading/writing, drawing, and subjective ride comfort rating tasks. The test results indicate that there is a threshold of root-mean-square vertical acceleration, below which the task execution performance is similar to that corresponding to standstill conditions. For the given, relatively harsh road disturbance profile, only the fully active suspension with road preview control can suppress the vertical acceleration below the above critical superior comfort threshold. However, when adding an active seat suspension, the range of chassis suspension types for superior ride comfort is substantially extended and can include semi-active suspension and even passive suspension in some extreme cases that can, however, lead to excessive relative motion between the seat and the vehicle floor. The design requirements gained through simulation analysis, and extended with cost and packaging requirements related to passenger car applications, have guided design of two active seat suspension concepts applicable to the shaker rig and production vehicles.

scholarly journals Effect of the Anti-Yaw Damper on Carbody Vertical Vibration and Ride Comfort of Railway Vehicle

2020 ◽  
Vol 10 (22) ◽  
pp. 8167
Author(s):  
Mădălina Dumitriu ◽  
Dragoș Ionuț Stănică
Keyword(s):  
Ride Comfort ◽  
Vertical Vibration ◽  
Theoretical Research ◽  
Railway Vehicle ◽  
Vertical Acceleration ◽  
Damping Force ◽  
Comfort Index ◽  
Lateral Vibrations ◽  
Power Spectral ◽  
Vertical Vibrations

The theoretical research on means to reduce the vertical vibrations and improve the ride comfort of the railway vehicle relies on a mechanical model obtained from the simplified representation of the vehicle, while considering the important factors and elements affecting the vibration behaviour of the carbody. One of these elements is the anti-yaw damper, mounted longitudinally, between the bogie and the vehicle carbody. The anti-yaw damper reduces the lateral vibrations and inhibits the yaw motion of the vehicle, a reason for which this element is not usually introduced in the vehicle model when studying the vertical vibrations. Nevertheless, due to the position of the clamping points of the anti-yaw damper onto the carbody and the bogie, the damping force is generated not only in the yawing direction but also in the vertical and longitudinal directions. These forces act upon the vehicle carbody, impacting its vertical vibration behaviour. The paper analyzes the effect of the anti-winding damper on the vertical vibrations of the railway vehicle carbody and the ride comfort, based on the results derived from the numerical simulations. They highlight the influence of the damping, stiffness and the damper mounting angle on the power spectral density of the carbody vertical acceleration and the ride comfort index.

Numerical Simulation of the Added Mass of the Fluid Adjacent to the Ship Hull in Vibration Measured During Sea-Trials in Tanker Ships to be Converted to Offshore Construction Vessel

2012 ◽  
Author(s):  
Severino Fonseca Silva Neto ◽  
Silvia Ramscheid Figueiredo ◽  
Marta Cecilia Tapia Reyes ◽  
Luiza de Mesquita Ortiz
Keyword(s):  
Numerical Model ◽  
Kinetic Energy ◽  
Natural Frequencies ◽  
Three Dimensional ◽  
Added Mass ◽  
Vertical Vibration ◽  
Full Scale ◽  
Experimental Results ◽  
Vibration Velocity ◽  
Main Engine

This study aims to analyze the influence of the kinetic energy of the fluid adjacent to the hull of a tanker ship in its vertical vibration frequencies, comparing them with experimental measurements obtained during sea-trials. The one-dimensional modeling of ships allows the construction of simple finite element models from the structural elements of its master section, with structural and added masses, and their frequencies are verified by full-scale measurements, during the sea-trials. The numerical results of these models, with the value of the effective shear area as a fraction of the total area of the strength steel are compared to those obtained in full-scale measurements during sea trials of an oil tanker to be converted to Offshore Construction Vessel. Global vibration measurements were carried out in two of the six ships with the same hull. Accelerometers were installed in eleven strategic points of each hull. Vibration data acquisition was performed simultaneously for these locals in thirteen rotations of the main engine. The amplitude spectra of vibration velocity on the frequency range of measurements were obtained and were plotted graphs of the evolution of the main harmonics, depending on the rotation of the main engine, in order to identify four natural frequencies of the overall vibration of the hull, which were compared to the numerical model. The calculation is performed by the added mass formulations from Burrill, Todd, Kumay and Lewis/Landweber [8] curves, including in all three-dimensional effect by Townsin [17] coefficients, which is checked against the experimental results. The comparison between numerical and experimental results allows assessing the influence of the kinetic energy of the fluid surrounding the hull in the natural frequencies of vibration of the numerical model of the tanker ship and simulating their dynamic behavior after conversion in Offshore Construction Vessel.

The Application of Pseudo-Excitation Method to the Ride Comfort Research of Wheel-Loader

2010 ◽  
Vol 34-35 ◽  
pp. 538-543 ◽  
Author(s):  
Chun Yan Chi ◽  
Si Cheng Qin ◽  
Ding Wen Yu ◽  
Wei Jun Zhang
Keyword(s):  
Ride Comfort ◽  
Angular Acceleration ◽  
Dynamic Force ◽  
Vertical Acceleration ◽  
Pseudo Excitation Method ◽  
Wheel Loader ◽  
The Road ◽  
Theoretical Evidence ◽  
Pseudo Excitation ◽  
Excitation Method

The wheel-loader is modeled as a linear 12-DOF system in this paper for researching its ride comfort under typical working situations. The pseudo-excitation method is introduced for vibration analysis, which accuracy has been validated. By using this method and taking a certain type of wheel-loader as a representative example, the spectral density of real response of wheel-loader such as the vertical acceleration of driver, the for-and-aft angular acceleration of bucket and the wheel relative dynamic force due to different carrying capacity, speed and the road surface level are obtained. The results offer the theoretical evidence for the farther wheel-loader vibration reduction research.

scholarly journals Symmetry Control of Comfortable Vehicle Suspension Based on H∞

Symmetry ◽  
2022 ◽  
Vol 14 (1) ◽  
pp. 171
Author(s):  
Jiguang Hou ◽  
Xianteng Cao ◽  
Changshu Zhan
Keyword(s):  
Ride Comfort ◽  
Control Method ◽  
Output Feedback Control ◽  
Lyapunov Stability Theory ◽  
Active Suspension ◽  
Vehicle Body ◽  
Vertical Acceleration ◽  
Control Force ◽  
Traffic Conditions ◽  
Suspension Model

Suspension is an important part of intelligent and safe transportation; it is the balance point between the comfort and handling stability of a vehicle under intelligent traffic conditions. In this study, a control method of left-right symmetry of air suspension based on H∞ theory was proposed, which was verified under intelligent traffic conditions. First, the control stability caused by the active suspension control system running on uneven roads needs to be ensured. To address this issue, a 1/4 vehicle active suspension model was established, and the vertical acceleration of the vehicle body was applied as the main index of ride comfort. H∞ performance constraint output indicators of the controller contained the tire dynamic load, suspension dynamic stroke, and actuator control force limit. Based on the Lyapunov stability theory, an output feedback control law with H∞-guaranteed performance was proposed to constrain multiple targets. This way, the control problem was transformed into a solution to the Riccati equation. The simulation results showed that when dealing with general road disturbances, the proposed control strategy can reduce the vehicle body acceleration by about 20% and meet the requirements of an ultimate suspension dynamic deflection of 0.08 m and a dynamic tire load of 1500 N. Using this symmetrical control method can significantly improve the ride comfort and driving stability of a vehicle under intelligent traffic conditions.

Improvement of Ride Comfort with Active Suspension System Using Preview Control Law

1995 ◽  
Vol 7 (4) ◽  
pp. 307-311
Author(s):  
Hideo Tobata ◽  
◽  
Takeshi Kimura ◽  
Yohsuke Akatsu
Keyword(s):  
Ride Comfort ◽  
Vertical Motion ◽  
Active Suspension ◽  
Road Surface ◽  
Vehicle Body ◽  
Vertical Acceleration ◽  
Control Force ◽  
Preview Control ◽  
Rear Suspension ◽  
The Road

It is known that the ride comfort of a vehicle equipped with active suspension can be further improved if a priori information about the road surface, i.e., preview control, is used. This paper discusses the application of preview control to the rear wheels of a vehicle with active suspension. Information about the front wheels' vertical motion is used to estimate the vertical travel of the rear wheels. Vibration transmitted from the road surface to the vehicle body through the rear suspension can be estimated from the vertical motion of the wheels. Thus, the control force that should be generated by the rear suspension actuators can be obtained. Simulation results reveal that preview control provides an accurate estimate of road force inputs, enabling the vertical acceleration of the vehicle body to be reduced for further improvement in ride comfort. The results of vehicle driving tests also confirm that the preview-control force serves to reduce the vertical acceleration of the vehicle body. Cooperation between preview control and a skyhook damper is also discussed and shown to be effective in reducing vehicle body vibration.

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