Sliding Mode Control of Active Suspension System

2012 ◽  
Author(s):  
Yahaya Md. Sam ◽  
Johari Halim Shah Osman ◽  
Mohd. Ruddin Abd. Ghani
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Surface ◽  
Automotive Control ◽  
Quarter Car Model ◽  
Mode Control ◽  
System A ◽  
Control Scheme

Kertas kerja ini mempersembahkan suatu pendekatan baru dalam mengawal sistem gantungan aktif. Pendekatan yang dicadangkan ialah menggunakan skim kawalan mod gelangsar perkadaran-pengkerbedaan. Menggunakan permukaan gelangsar jenis ini, kestabilan asimptotik sistem adalah lebih pasti berbanding dengan jenis permukaan gelangsar konvensional. Skim kawalan yang dicadangkan diaplikasikan penggunaannya dalam mereka bentuk sistem gantungan aktif automotif model kereta suku. Keupayaan sistem kawalan yang direka bentuk akan dibandingkan dengan sistem gantungan pasif yang sedia ada. Kajian dalam bentuk penyelakuan dijalankan untuk membuktikan keberkesanan reka bentuk sistem kawalan berkenaan. Kata kunci: Kawalan automotif; kawalan mod gelangsar; kawalan tegap; ketakpastian tak terpadan The purpose of this paper is to present a new approach in controlling an active suspension system. This approach utilized the proportional integral sliding mode control scheme. Using this type of sliding surface, the asymptotic stability of the system during sliding mode is assured compared to the conventional sliding surface. The proposed control scheme is applied in designing an automotive active suspension system for a quarter-car model and its performance is compared with the existing passive suspension system. A simulation study is performed to prove the effectiveness of this control design. Key words: Automotive control; sliding mode control; robust control; mismatched uncertainties

A sliding Mode Control of Active Suspension Using H2/GH2 Approach to Surface Design

2014 ◽  
Vol 945-949 ◽  
pp. 1305-1308
Author(s):  
Shu Bo Liu ◽  
Xian Xi Luo ◽  
Zhi Hui Wan
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Surface Design ◽  
Quarter Car Model ◽  
Mode Control ◽  
System A ◽  
Passive Suspension System

This paper considers a new H2/GH2sliding mode control in controlling active suspension system subject to mismatched disturbance, without requiring a prior knowledge of disturbance. A quarter-car model is used in the study and the performance of the controller is compared with the existing passive suspension system. A simulation study is presented to prove the effectiveness and robustness of the proposed control method.

A sliding mode controller for vehicle active suspension systems with non-linearities

1998 ◽  
Vol 212 (2) ◽  
pp. 79-92 ◽  
Author(s):  
C Kim ◽  
P I Ro
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Operating Conditions ◽  
Normal Operation ◽  
Sliding Mode Controller ◽  
Mode Control ◽  
Control Scheme ◽  
Quarter Car

In this paper, the control of an active suspension system using a quarter car model has been investigated. Due to the presence of non-linearities such as a hardening spring, a quadratic damping force and the ‘tyre lift-off’ phenomenon in a real suspension system, it is very difficult to achieve desired performance using linear control techniques. To ensure robustness for a wide range of operating conditions, a sliding mode controller has been designed and compared with an existing nonlinear adaptive control scheme in the literature. The sliding mode scheme utilizes a variant of a sky-hook damper system as a reference model which does not require real-time measurement of road input. The robustness of the scheme is investigated through computer simulation, and the efficacy of the scheme is shown both in time and frequency domains. In particular, when the vertical load to the sprung mass is changed, the sliding mode control resumes normal operation faster than the nonlinear self-tuning control and the passive system by factors of 3 and 6, respectively, and suspension deflection is kept to a minimum. Other results showed advantages of the sliding mode control scheme in a quarter car system with realistic non-linearities.

Backstepping sliding-mode control for active suspension system matching mechanical elastic wheel with uncertainties

2021 ◽  
pp. 095440702110610
Author(s):  
Tao Xu ◽  
Youqun Zhao ◽  
Fen Lin ◽  
Qiuwei Wang
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Integral Sliding Mode Control ◽  
Mode Control ◽  
Elastic Wheel ◽  
Backstepping Sliding Mode Control ◽  
Mechanical Elastic Wheel

For the purpose of anti-puncture and lightweight, a new type of mechanical elastic wheel (MEW) is constructed. However, the large radial stiffness of MEW has a negative effect on ride comfort. To make up for the disadvantage, this paper proposes a novel control strategy consisting of backstepping control and integral sliding-mode control, considering the uncertainties of active suspension and MEW. First, an active suspension system matching MEW is established, discussing the impact of uncertainties. The nonlinear radial characteristic of MEW is fitted based on the previous experiment results. Then, in order to derive ideal motions, an ideal suspension system combining sky-hook and ground-hook damping control is introduced. Next, ignoring the nonlinear characteristics and external random disturbance, a backstepping controller is designed to track ideal variables. Combined with the backstepping control law, an integral sliding-mode control strategy is given, further taking parameter uncertainty and external disturbance into account. To tackle chattering problem, an adaptive state variable matrix is applied. By using Lyapunov stability theory, the whole scheme proves to be robust and convergent. Finally, co-simulations with Carsim and MATLAB/Simulink are carried out. By analyzing the simulation results, it can be concluded that the vehicle adopting backstepping sliding-mode control performs best, with excellent real-time performance and robustness.

A research of sliding mode control method with disturbance observer combining skyhook model for active suspension systems

2019 ◽  
Vol 26 (11-12) ◽  
pp. 952-964 ◽  
Author(s):  
Wu Qin ◽  
Wen-Bin Shangguan ◽  
Kegang Zhao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Active Suspension ◽  
Suspension System ◽  
Suspension Systems ◽  
Mode Control ◽  
Active Suspension Systems ◽  
Mass Displacement ◽  
The Impact

Based on a nonlinear two-degree-of-freedom model of active suspension systems, an approach of the sliding mode control with disturbance observer combining skyhook model sliding mode control with disturbance observer combining is proposed for improving the performance of active suspension systems, and the effectiveness of the proposed approach is validated by the active suspension system plant. Two problems of active suspension systems are solved by using the proposed approach when the tire is excited by the step displacement. One problem is that the suspension deflection of active suspension systems, i.e. the difference between the sprung mass displacement and the unsprung mass displacement, using conventional sliding mode control with disturbance observer not converges to zero in finite time, and the phenomenon of the impact of suspension against the limit block is produced. This problem is solved by providing a reference value of the sprung mass displacement in an active suspension system, which is obtained from the skyhook model. The other problem is that disturbances exist in active suspension systems, which are caused by the inaccurate parameters of stiffness and damping. This problem is solved by designing a disturbance observer to estimate the summation of the disturbances. Finally, the performance indexes of the active suspension system with the sliding mode control with disturbance observer combining skyhook model are calculated and compared with those of using the conventional sliding mode control with disturbance observer and the linear quadratic regulator approach.

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