Implementation of a Modified Skyhook Control on a Purely Pneumatic Semi-Active Suspension System

2007 ◽  
Author(s):  
H. Porumamilla ◽  
Atul G. Kelkar ◽  
Jerald M. Vogel
Keyword(s):  
First Principles ◽  
Heat Dissipation ◽  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Base Excitation ◽  
Single Degree Of Freedom ◽  
Pneumatic Suspension ◽  
Flow Through ◽  
Force Velocity

The paper presents implementation of a modified skyhook control on a purely pneumatic suspension system comprising of an airspring, a pressure-differential causing geometry such as a sharp edged orifice and an accumulator, which utilizes the dynamics of compressible air flow through an orifice to inject damping into the suspension rather than heat dissipation as in suspensions with oil-base damper. A continuous-skyhook logic is implemented on the hardware built as a single degree of freedom system. For a head-to-head comparison, a contemporary semi-active suspension using an MR-damper is modeled. The airspring of this suspension is modeled from first principles of Thermodynamics and a new continuously differentiable function describing the force-velocity profiles of the MR-damper is developed. An evaluation of the sprung mass acceleration shows that the performance of the pneumatic suspension rivals that of the MR based unit for an arbitrarily chosen base excitation input. The modified Skyhook law proposed for producing pneumatic damping is shown to be able to inject sufficient damping (compared to MR-Damper), thereby off-setting the need for an additional oil damper.

Performance analysis of MR damper based semi-active suspension system using optimally tuned controllers

2021 ◽  
pp. 095440702110044
Author(s):  
Gurubasavaraju Tharehalli mata ◽  
Vijay Mokenapalli ◽  
Hemanth Krishna
Keyword(s):  
Pid Controller ◽  
Ride Comfort ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Parametric Method ◽  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Sliding Mode Controller ◽  
Road Excitation

This study assesses the dynamic performance of the semi-active quarter car vehicle under random road conditions through a new approach. The monotube MR damper is modelled using non-parametric method based on the dynamic characteristics obtained from the experiments. This model is used as the variable damper in a semi-active suspension. In order to control the vibration caused under random road excitation, an optimal sliding mode controller (SMC) is utilised. Particle swarm optimisation (PSO) is coupled to identify the parameters of the SMC. Three optimal criteria are used for determining the best sliding mode controller parameters which are later used in estimating the ride comfort and road handling of a semi-active suspension system. A comparison between the SMC, Skyhook, Ground hook and PID controller suggests that the optimal parameters with SMC have better controllability than the PID controller. SMC has also provided better controllability than the PID controller at higher road roughness.

Neural Network Based Fault Tolerant Control for a Semi-Active Suspension

2019 ◽  
Author(s):  
Sergio Alberto Rueda Villanoba ◽  
Carlos Borrás Pinilla
Keyword(s):  
Neural Network ◽  
Control System ◽  
Fault Tolerant ◽  
Mr Damper ◽  
Fault Tolerant Control ◽  
Active Suspension ◽  
Suspension System ◽  
Vehicle Body ◽  
Force Model ◽  
The Neural Network

Abstract In this study a Neural Network based fault tolerant control is proposed to accommodate oil leakages in a magnetorheological suspension system based in a half car dynamic model. This model consists of vehicle body (spring mass) connected by the MR suspension system to two lateral wheels (unsprung mass). The semi-active suspension system is a four states nonlinear model; it can be written as a state space representation. The main objectives of a suspension are: Isolate the chassis from road disturbances (passenger comfort) and maintain contact between tire and road to provide better maneuverability, safety and performance. On the other hand, component faults/failures are inevitable in all practical systems, the shock absorbers of semi-active suspensions are prone to fail due to fluid leakage but quickly detect and diagnose this fault in the system, avoid major damage to the system and ensure the safety of the driver. To successfully achieve desirable control performance, it is necessary to have a damping force model which can accurately represent the highly nonlinear and hysteretic dynamic of the MR damper. To simulate parameters of the damper, a quasi-static model was applied, quasi-static approaches are based on non-newtonian yield stress fluids flow by using the Bingham MR Damper Model, relating the relative displacement of the piston, the frictional force, a damping constant, the stiffness of the elastic element of the damper and an offset force. The Fault detection and isolation module is based on residual generation algorithms. The residua r is computed as the difference between the displacement signal of functional and faulty model, when the residual is close to zero, the process is free of faults, while any change in r represents a faulty scheme then a wavelet transform, (Morlet wave function) is used to determine the natural frequencies and amplitudes of displacement and acceleration signal during the failure, this module provides parameters to the neural network controller in order to accommodate the failure using compensation forces from the remaining healthy damper. The neural network uses the error between the plant output and the neural network plant for computing the required electric current to correct the malfunction using the inverse dynamics function of the MR damper model. Consequently, a bump condition, and a random profile road (ISO 8608) described by the power spectral density (PSD) of its vertical displacement, is used as disturbance of control system. The performance of the proposed FTC structure is demonstrated trough simulation. Results shows that the control system could reduce the effect of the partial fault of the MR Damper on system performance.

scholarly journals Multimode Coordination Control of a Hybrid Active Suspension

2018 ◽  
Vol 2018 ◽  
pp. 1-16 ◽  
Author(s):  
Fa-Rong Kou ◽  
Dong-Dong Wei ◽  
Lei Tian
Keyword(s):  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Ball Screw ◽  
Damping Force ◽  
Active Mode ◽  
Damping Control ◽  
Electromagnetic Damping ◽  
Regenerative Energy ◽  
Suspension Structure

In order to effectively realize the damping control and regenerative energy recovery of vehicle suspension, a new kind of hybrid active suspension structure with the ball screw actuator and magnetorheological (MR) damper is put forward. Firstly, for the analysis of the suspension performance, a quarter dynamic model of vehicle hybrid suspension is established, and at the same time, the mathematical models of MR damper and ball screw actuator are founded. Secondly, the active mode with damping switching control of the hybrid suspension and the semiactive mode with feedback adjustment of the electromagnetic damping force of the hybrid suspension are analyzed. Then, the multimode coordinated control system of the hybrid suspension is designed. Under the cyclic driving condition, the damping performance and energy consumption characteristics of the hybrid suspension are simulated by MATLAB/Simulink software. Finally, the bench tests of the hybrid suspension system are done. The simulation and experimental results show that compared with passive suspension, the root mean square of the sprung mass acceleration of the hybrid suspension with the active mode and semiactive mode is, respectively, reduced by 39% and 16% under the random road. The damping effect of the hybrid suspension system is obvious.

Non-Parametric Modelling and Validation of Magnetorheological Damper for Lateral Suspension of Railway Vehicle Using Interpolated Sixth Order Polynomial

2014 ◽  
Vol 699 ◽  
pp. 283-288
Author(s):  
Mohamad Hafiz Harun ◽  
Fauzi Ahmad ◽  
Mohd Razali Md Yunos ◽  
Ahmad Kamal Mat Yamin
Keyword(s):  
Ride Comfort ◽  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Magnetorheological Damper ◽  
Sixth Order ◽  
Railway Vehicle ◽  
Parametric Modelling ◽  
Track Maintenance ◽  
Order Polynomial

Passenger ride comfort is an important factor in railway vehicle services. However, passenger ride comfort is sometimes affected by the vibrations resulting from the track irregularities. It will be critical when the track is exposed to prolonged sun’s heat and lack of track maintenance. This means that the optimization of passive suspension parameters alone could not cope with these cases. Semi-active suspension system for railway vehicles has been developed as a way to solve these problems. The technology of semi-active suspension is widely used especially in the railway vehicle application. Magnetorheological (MR) damper is one of the applications of the concept of semi-active suspension. However, there are a variety of criteria for MR dampers based on usage. To meet the requirements of railway vehicle suspension system, a MR damper have been developed. The criteria for the MR damper are obtained experimentally. Then, the model for the MR damper is developed using Interpolated Sixth Order Polynomial and validated by experimental. The MR damper model has shown improvement, especially in the railway vehicle dynamics performance.

Modified Sensitivity Control of a Semi-Active Suspension System with MR-Damper for Ride Comfort Improvement

2007 ◽  
Vol 31 (1) ◽  
pp. 129-138 ◽  
Author(s):  
Tae-Shik Kim ◽  
Rae-Kwan Kim ◽  
Jae-Woo Park ◽  
Chang-Do Huh ◽  
Keum-Shik Hong
Keyword(s):  
Ride Comfort ◽  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Sensitivity Control

scholarly journals Semi-active control of a nonlinear quarter-car model of hyperloop capsule vehicle with Skyhook and Mixed Skyhook-Acceleration Driven Damper controller

2021 ◽  
Vol 13 (2) ◽  
pp. 168781402199952
Author(s):  
Birhan Abebaw Negash ◽  
Wonhee You ◽  
Jinho Lee ◽  
Changyoung Lee ◽  
Kwansup Lee
Keyword(s):  
Resonance Frequency ◽  
Mr Damper ◽  
Active Suspension ◽  
Vertical Displacement ◽  
Suspension System ◽  
Magnetorheological Damper ◽  
Quarter Car Model ◽  
Car Model ◽  
Quarter Car ◽  
And Performance

A suspension system is one of the integral parts of a hyperloop capsule train, which is used to isolate the car-body from bogie vibration to provide a safer and comfortable service. A semi-active suspension system is one of the best candidates for its advantageous features. The performance of a semi-active suspension system relies greatly on the control strategy applied. In this article, Skyhook (SH) and mixed Skyhook-Acceleration Driven Damper (SH-ADD) controlling algorithms are adopted for a nonlinear quarter-car model of a capsule with semi-active magnetorheological damper. The nonlinear vertical dynamic response and performance of the proposed control algorithms are evaluated under MATLAB Simulink environment and hardware-in-loop-system (HILS) environment. The SH controlled semi-active suspension system performance is found to be better at the first resonance frequency and worse at the second resonance frequency than the passive MR damper, but the mixed SH-ADD controlled semi-active suspension system performs better than the passive at all frequency domains. Taking the root-mean-square (RMS) value of sprung mass vertical displacement as an evaluation criterion, the response is reduced by 58.49% with mixed SH-ADD controller and by 54.49% with the SH controller compared to the passive MR damper suspension.

Experimental Validation of the Modified Continuously Variable Command Law of a Semi-Active Suspension Integrating a Magneto-Rheological (MR) Damper

2014 ◽  
Vol 1016 ◽  
pp. 279-286
Author(s):  
Said Boukerroum ◽  
Nacer Hamzaoui
Keyword(s):  
Numerical Model ◽  
Degrees Of Freedom ◽  
Test Bench ◽  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Compression And Expansion ◽  
Low Speeds ◽  
Secondary Suspension ◽  
Magneto Rheological

The present work consists of an experimental performances analysis of a suspension system with two degrees of freedom governed by a semi-active modified continuously variable command (MCVC) law. The internal dynamics of Magneto-Rheological (MR) damper used in this study is highlighted by the modified Bouc-Wen model in the mathematical modelling of the secondary suspension system. After the dynamic characterization of the MR damper, a comparison of performance obtained by this control scheme is carried out from the responses calculated using a numerical model and measured experimentally from a test bench of a semi-active suspension incorporating an MR damper and controlled by a dSPACE control chain. For a better representativeness of the modified Bouc-Wen numerical model, a rapprochement between the calculated and measured responses for the same dynamic characteristics of the test bench is possible by adjusting the most influential parameters of the numerical model. Through better management of the suspension during the low speeds, the modified Bouc-Wen model is more representative of the real behaviour of the MR damper, given its sensitivity at these low speeds during transitions between compression and expansion phases of the damper.

Analysis of MR Damper for Quarter and Half Car Suspension Systems of a Roadway Vehicle

2017 ◽  
Vol 9 (1) ◽  
Author(s):  
D.V.A.R. Sastry ◽  
K.V. Ramana ◽  
N.M. Rao ◽  
P. Pruthvi ◽  
D.U.V. Santhosh
Keyword(s):  
Ride Comfort ◽  
Silicone Oil ◽  
Active Vibration Control ◽  
Mr Damper ◽  
Active Suspension ◽  
Suspension System ◽  
Magnetorheological Damper ◽  
Car Suspension ◽  
Quarter Car ◽  
Spencer Model

Magnetorheological (MR) dampers are evolving as one of the most promising devices for semi-active vibration control of various dynamic systems. In this paper, the suspension system of a car using MR damper is analysed for 2DOF quarter car and 4DOF half car models and then compared with corresponding suspension system using passive damper for ride comfort and handling. Magnetorheological damper is fabricated using a MR fluid of Carbonyl iron powder and Silicone oil added with additive. Experiments are conducted to establish the behaviour of the MR damper and are used to validate Spencer model for MR damper. Further, using the validated Spencer model of MR damper, the quarter car and half car models of Vehicle Suspension system are simulated by implementing a semi-active suspension system for analysing the resulting displacement and acceleration in the car body. The ride comfort and vehicle handling performance of each specific vehicle model with passive suspension system are compared with corresponding semi-active suspension system. The simulation and analysis are carried out using MATLAB/SIMULINK.

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