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SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS PARTⅡ——EVALUATION OF SUSPENSION performance

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Chinese Journal of Mechanical Engineering 2008年第1期21卷 45-52页

作者： WANG Enrong YING Liang WANG Wanjun RAKHEJA Subhash SU Chunyi School of Electric and Automation Engineering Nanjing Normal University Nanjing 210042 China Department of Mechanical and Industrial Engineering Concordia University Montreal H3G 1M8 Canada

The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller （Part I ） for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.

关键词： Magneto-rheological damper Asymmetric damping Semi-active control Vehicle suspension multi-objective performance

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Semi-active Sliding Mode Control of Vehicle Suspension with Magneto-rheological Damper

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Chinese Journal of Mechanical Engineering 2015年第1期28卷 63-75页

作者： ZHANG Hailong WANG Enrong ZHANG Ning MIN Fuhong SUBASH Rakheja SU Chunyi School of Physics and Technology Nanjing Normal University School of Electric and Automation Engineering Nanjing Normal University Department of Mechanical Engineering Concordia University

The vehicle semi-active suspension with magneto-theological damper（MRD） has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control （SMC） strategies is proposed for the quarter-vehicle suspension with the magneto-rheological （MR） damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity （F-v） model and its inverse model of MR damper, as well as the proposed continuous modulation （CM） filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller （SSMC）-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

关键词： magneto-rheological damper vehicle suspension multi-objective performance semi-active sliding mode control filtering

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