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Robust control for active suspension system under steering condition

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Science China(Technological Sciences) 2017年第2期60卷 199-208页

作者： WANG ChunYan DENG Ke ZHAO WanZhong ZHOU Guan LI XueSong Department of Automotive Engineering Nanjing University of Aeronautics and Astronautics State Key Laboratory of Automobile Simulation and Control Jilin University

To minimize the auto body's posture change caused by steering and uneven road, and improve the vehicle's riding comfort and handling stability, this paper presents an H∞ robust controller of the active suspension system, which considers the effects of different steering conditions on its dynamic performance. The vehicle's vibration in the yaw, roll, pitch and vertical direction and the suspension's dynamic deflection in the steering process are taken into account for the designed H∞ robust controller, and it introduces the frequency weight function to improve the riding comfort in the specific sensitive frequency bands to human body. The proposed robust controller is testified through simulation and steering wheel angle step test. The results show that the active suspension with the designed robust controller can enhance the anti-roll capability of the vehicle, inhibit the changes of the body, and improve the riding comfort of the vehicle under steering condition. The results of this study can provide certain theoretical basis for the research and application of active suspension system.

关键词： vehicle active suspension system steering condition H∞ robust control sensitive frequency bands

Pneumatic active suspension system for a one-wheel car model using fuzzy reasoning and a disturbance observer

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Journal of Zhejiang University Science 2004年第9期5卷 1060-1068页

作者： YOSHIMURAToshio TAKAGIAtsushi DepartmentofMechanicalEngineering FacultyofEngineeringTheUniversityofTokushimaMinamijosanjima-cho2-1Tokushima770-8506Japan

This paper presents the construction of a pneumatic active suspension system for a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model can be approximately described as a nonlinear two degrees of freedom system subject to excitation from a road profile. The active control is composed of fuzzy and disturbance controls, and the active control force is constructed by actuating a pneumatic actuator. A phase lead-lag compensator is inserted to counter the performance degradation due to the delay of the pneumatic actuator. The experimental result indicates that the proposed active suspension improves much the vibration suppression of the car model.

关键词： One-wheel car model active suspension system Fuzzy reasoning Pneumatic actuator Disturbance observer

Automobile active suspension system with fuzzy control

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Journal of Central South University of Technology 2004年第2期11卷 206-209页

作者：刘少军黄中华陈毅章 College of Mechanical and Electrical Engineering Central South University

A quarter-automobile active suspension model was proposed. High speed on/off solenoid valves were used as control valves and fuzzy control was chosen as control method . Based on force analyses of system parts, a mathematical model of the active suspension system was established and simplified by linearization method. Simulation study was conducted with Matlab and three scale coefficients of fuzzy controller (ke, kec, ku) were acquired. And an experimental device was designed and produced. The results indicate that the active suspension system can achieve better vibration isolation performance than passive suspension system, the displacement amplitude of automobile body can be reduced to 55%. Fuzzy control is an effective control method for active suspension system.

关键词： active suspension system fuzzy control high speed on/off solenoid valve simulation

BP neural network and PID combined control applied to vehicle active suspension system

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BP neural network and PID combined control applied to vehicl...

第40届中国控制会议

作者： Mingxiang Wang Hui Pang Peng Wang Jibo Luo School of Mechanical and Precision Instrument Engineering Xi’an University of Technology

In order to adjust the suspension performance to improve the ride comfort of the vehicle, a PID controller based on BP neural network is proposed to optimize the performance of the active suspension system in real time. First, the simplified model of a quarter-vehicle active suspension system is built. Then, the vehicle active suspension system equipped with the proposed BP neural network-based PID controller（BP-PID controller） is simulated in MATLAB/Simulink software under bump road surface and random road surface. Finally, the response curves and the root mean square values of the vehicle body acceleration,suspension dynamic deflection and dynamic tire load of the active suspension and passive suspension are compared and *** simulation results show that the BP-PID controller can improve the suspension performance and inhibit the vehicle body acceleration, suspension dynamic deflection and dynamic tire load of the vehicle.

关键词： active suspension system BP neural network PID control

Data-Based Control for an active suspension system with Unknown Pseudo-Drift Dynamics

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Data-Based Control for an Active Suspension System with Unkn...

第十四届全国振动理论及应用学术会议(NVTA2021)

作者：秦志昌辛英周海波天津理工大学机械工程学院

This study presents an off-policy H∞ vibration control algorithm to realize the vibration reduction of the suspension system to provide ride comfort. The control design is based on ahierarchical control framework, consisting of state feedback pre-stable control and data-based neural network control. The proposed control algorithm only needs to know partial knowledge of the system dynamics without any information about the so-called pseudo-drift dynamics. We analyze and evaluate the control approach through simulation and experimentation based on alaboratory suspension platform. The comparison between the proposed control approach and a passive suspension shows that the data-based H∞ vibration control is quite promising. Inaddition, we investigate the influences of two key parameters q and R on the data-based control approach and reveal the insensitivity of the proposed learning algorithm to the amount of data and the key factors of how to improve the control performance.

关键词： active suspension system Data-based H∞control Vibration depression Integral reinforcement learning

Stochastic sampled-data multi-objective control of active suspension systems for in-wheel motor driven electric vehicles

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Journal of Automation and Intelligence 2024年第1期3卷 2-18页

作者： Iftikhar Ahmad Xiaohua Ge Qing-Long Han School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

This paper addresses the sampled-data multi-objective active suspension control problem for an in-wheel motor driven electric vehicle subject to stochastic sampling periods and asynchronous premise *** focus is placed on the scenario that the dynamical state of the half-vehicle active suspension system is transmitted over an in-vehicle controller area network that only permits the transmission of sampled data *** this purpose,a stochastic sampling mechanism is developed such that the sampling periods can randomly switch among different values with certain mathematical ***,an asynchronous fuzzy sampled-data controller,featuring distinct premise variables from the active suspension system,is constructed to eliminate the stringent requirement that the sampled-data controller has to share the same grades of ***,novel criteria for both stability analysis and controller design are derived in order to guarantee that the resultant closed-loop active suspension system is stochastically stable with simultaneous𝐻2 and𝐻∞performance ***,the effectiveness of the proposed stochastic sampled-data multi-objective control method is verified via several numerical cases studies in both time domain and frequency domain under various road disturbance profiles.

关键词： active suspension system Electric vehicles In-wheel motor Stochastic sampling Dynamic dampers Sampled-data control Multi-objective control

Adaptive Back-stepping Based Control for active suspension systems with Prescribed Performance

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Adaptive Back-stepping Based Control for Active Suspension S...

第40届中国控制会议

作者： Huijun Guo Jintao Liang School of Automation and Information Engineering Xi'an University of Technology Key Laboratory of Shaanxi Province for Complex system Control and Intelligent Information Processing Guilin University of Electronic Technology

This paper proposes an adaptive back-stepping tracking control with prescribed performance function for vehicle suspension systems with uncertain parameters. The prescribed performance function can lead the tracking error from a large set to an arbitrarily small residual set. Firstly, the constrained tracking error system incorporating the prescribed performance functions is transformed into unconstrained form. Then an adaptive updating scheme based on the projection algorithm is designed to estimate the uncertain parameter. Following that an adaptive nonlinear controller is designed using the back-stepping technique, and the stability of whole controlled systems is proved by the Lyapunov theory. Meanwhile, the state convergence of the internal dynamical system is also guaranteed. Finally, simulation results are provided to verify the proposed approach.

关键词： active suspension system Adaptive Control Back-stepping technique prescribed performance

Adaptive Aperiodic Intermittent Control for Nonlinear active suspension systems

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Adaptive Aperiodic Intermittent Control for Nonlinear Active...

第40届中国控制会议

作者： Qiang Zeng Dan Ma Jun Zhao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry Northeastern University Ministry of Education College of Information Science and Engineering (Northeastern University)

This paper proposes an aperiodic intermittent control method for nonlinear active suspension systems（ASSs）. The dynamics of ASSs under the intermittent control is regarded as switched nonlinear systems composed of controllable and uncontrollable subsystems. An aperiodic adaptive intermittent control scheme can be presented to stabilize the attitude of the vehicle by using the backstepping technique and improve the comfort of passengers. Indeed, the objective is achieved via the tradeoff among the controllable and uncontrollable subsystems from the dwell time algorithm. Then, the performance of closed-loop ASSs can be analyzed by the Lyapunov theory. Finally, the effectiveness and rationality of the proposed method are verified from the simulation results.

关键词： active suspension system intermittent control switched system dwell time adaptive control

active suspension control of a one-wheel car model using single input rule modules fuzzy reasoning and a disturbance observer

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2005年第4期6卷 251-256页

作者： YOSHIMURA Toshio TERAMURA Itaru Department of Mechanical Engineering Faculty of Engineering The University of TokushimaDepartment of Mechanical Engineering Faculty of Engineering The University of Tokushima Tokushima 770-8506 JapanTokushima 770-8506 Japan

This paper presents the construction of an active suspension control of a one-wheel car model using fuzzy reasoning and a disturbance observer. The one-wheel car model to be treated here can be approximately described as a nonlinear two degrees of freedom system subject to excitation from a road profile. The active control is designed as the fuzzy control inferred by using single input rule modules fuzzy reasoning, and the active control force is released by actuating a pneumatic actuator. The excitation from the road profile is estimated by using a disturbance observer, and the estimate is denoted as one of the variables in the precondition part of the fuzzy control rules. A compensator is inserted to counter the performance degradation due to the delay of the pneumatic actuator. The experimental result indicates that the proposed active suspension system improves much the vibration suppression of the car model. Key words One-wheel car model - active suspension system - Single input rule modules fuzzy reasoning - Pneumatic actuator - Disturbance observer Document code A CLC number TH16

关键词： One-wheel car model active suspension system Single input rule modules fuzzy reasoning Pneumatic actuator Disturbance observer