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A skyhook surface sliding mode control method was proposed and applied to the control on the semi-active vehicle suspension system for its ride comfort enhancement. A two degree of freedom dynamic model of a vehicle semi-active suspension system was given, which focused on the passenger’s ride comfort perform-ance. A simulation with the given initi...
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... Specifically, [4] studied the semi-active suspension using the on-off and continuous skyhook strategy with frequency and transient analysis. Furthermore, [5] applied the skyhook surface sliding mode control (SMC) to the semi-active vehicle suspension system for ride comfort, and [6] combined skyhook and "soft-landing" control to achieve both vibration and shock mitigation. Based on SMC, [7] conducts performance analysis of the semi-active vehicle, and particle swarm optimization is applied to identify the parameters of the SMC; [8] studied the vibration suppression in full-car active suspension system with various road disturbances using fractional order SMC. ...
This paper proposes an integrated skyhook-active disturbance rejection control (ADRC) strategy for vibration reduction of automotive semi-active suspension with MR dampers. Comprehensively considering sprung and unsprung mass, this scheme applies extended state observer to implement switching control of ADRC and skyhook and online estimation and compensation of disturbances such as road excitation, along with the decoupling of sprung and unsprung channels. In addition, the influence of equivalent damping on three vibration characteristic indexes of vehicle acceleration, suspension dynamic deflection, and tire dynamic load is analyzed in the frequency domain, providing a theoretical basis for simulation analysis. Finally, the proposed skyhook-ADRC algorithm was synthetically compared with skyhook and ADRC based on random, convex, and sinusoidal road surfaces, proving its good capability for vibration reduction.
... In the previous study, a variety of control systems aimed at improving the performance of railway vehicles were presented, such as an LQR controller [20], fuzzy logic [21,22], sliding mode [23] and magnetorheological damper [24,25,26], which helps to reduce the vibration of the moving body. Skyhook theory has been extensively researched for its application in automotive and railway vehicle systems as a means of providing suspension control [27,28]. ...
The aim of this work is to determine the effectiveness of active suspension control systems in improving the ride quality of railway vehicles. A 13-degrees-of-freedom (DOF) full-body model is provided, including lateral, yaw, and rool motions of the body and bogies, and lateral displacement of the four wheelsets. The suspension system of railway vehicles and the dynamics of track irregularities are combined in a set of governing equations. MATLAB/Simulink is used to build a full-body dynamics model of a rail vehicle. The effectiveness of the active suspension systems equipped with the suggested controller has been tested for the purpose of evaluating its performance. Compared to passive systems, the results showed a more than 60 % improvement in vehicle performance on irregular tracks.
... Passive suspension systems provide poor performance in terms of road handling and ride comfort and are composed of passive dampers and conventional springs installed between the wheel axle assembly and the vehicle body [1][2][3][4]. Semi-active suspension systems are economic in terms of cost and energy consumption and provide good suspension performance by using controllable semi-active dampers [5][6][7][8]. ...
... This significantly limits the usage of embedded suspension components in automotive production code software as it requires very high efforts in implementation, manual testing, and fulfilling coding requirements. The application of sliding-mode controllers for semi-active suspension systems has been investigated by many researchers [6,[26][27][28]. However, these studies are either limited to applying sliding mode control for quarter-car models or limited to only ride comfort or only road holding. ...
With the advance in technology in driving vehicles, there is currently more emphasis on developing advanced control systems for better road handling stability and ride comfort. However, one of the challenging problems in the design and implementation of intelligent suspension systems is that there is currently no solution supporting the export of generic suspension models and control components for integration into embedded Electronic Control Units (ECUs). This significantly limits the usage of embedded suspension components in automotive production code software as it requires very high efforts in implementation, manual testing, and fulfilling coding requirements. This paper introduces a new dynamic model of full-car suspension system with semi-active suspension behavior and provides a hybrid sliding mode approach for control of full-car suspension dynamics such that the road handling stability and ride comfort characteristics are ensured. The semi-active suspension model and the hybrid sliding mode controller are implemented as Functional Mock-Up Units (FMUs) conforming to the Functional Mock-Up Interface for embedded systems (eFMI) and are calibrated with a set experimental tests using a 1/5 Soben-car test bench. The methods and prototype implementation proposed in this paper allow both model and controller re-usability and provide a generic way of integrating models and control software into embedded ECUs.
... A Sliding Mode Controller (SMC) is a robust controller and widely used because of its attractive characteristics of robustness to uncertainties of the system and finite-time convergence. The superiority of SMC had been applied both in theory and practice [28][29][30]. Ansari and Taparia constructed a quarter vehicle active suspension system using an improved SMC as control scheme with an observer design to estimate the road profile. The goal of designing the vehicle suspension system was to improve driving quality by controlling the forces of suspension to suit the driving and road conditions [31]. ...
This article proposes a new intelligent control scheme that uses the Fuzzy Super Twisting Sliding Mode Concept (FSTSMC) and PID controller tuned with the Artificial Bee Colony (ABC) algorithm to control a full vehicle active suspension system with new convergence proof. Suspension systems are utilized to provide vehicle safety and improve comfortable driving. The effects of road roughness transmitted by tires to the vehicle body can be reduced by using suspension systems. In this work super twisting sliding mode is combined with a fuzzy system to design a robust control method. The super twisting sliding mode concept is utilized to limit and minimize the chattering problem and the fuzzy system is used for estimating the unknown parameters and uncertainty in the suspension system components (spring, damper, and actuator). The advantage of such combination is that it can handle the uncertainties and nonlinearities efficiently. The PID controller is used to create the required force to be produced by the actuator. The proposed control scheme consists of four similar sub control schemes, one for each of the four corners of the vehicle. All parameters in the sub control schemes are optimized using the ABC algorithm. The designed control system is applied for a full vehicle model with 8 degrees of freedom. Simulation results show large reduction in the vibration of the vehicle body when passing on disturbance and also show good robustness properties when tested for different road conditions. Passive and active suspension systems using sliding modecontrol (SMC) and the proposed FSTSMC are compared to test the efficiency and the ability of the proposed control scheme to achieve safe and comfortable driving for a random road profile.
... Symmetry 2020, 12, 1286 2 of 14 body [6]. Semi-active suspension can provide most of the performance characteristics provided by active suspension and is more economic in operation than active suspension in terms of cost and energy consumption [7][8][9]. In this study, we focus on semi-active suspension systems that use electro-rheological (ER) dampers. ...
Rigorous model-based design and control for intelligent vehicle suspension systems play an important role in providing better driving characteristics such as passenger comfort and road-holding capability. This paper investigates a new technique for modeling, simulation and control of semi-active suspension systems supporting both ride comfort and road-holding driving characteristics and implements the technique in accordance with the functional mock-up interface standard FMI 2.0. Firstly, we provide a control-oriented hybrid model of a quarter car semi-active suspension system. The resulting quarter car hybrid model is used to develop a sliding mode controller that supports both ride comfort and road-holding capability. Both the hybrid model and controller are then implemented conforming to the functional mock-up interface standard FMI 2.0. The aim of the FMI-based implementation is to serve as a portable test bench for control applications of vehicle suspension systems. It fully supports the exchange of the suspension system components as functional mock-up units (FMUs) among different modelling and simulation platforms, which allows re-usability and facilitates the interoperation and integration of the suspension system components with embedded software components. The concepts are validated with simulation results throughout the paper.
... It severely damages the driver's health, so it is crucial to attenuate the vibration for improving ride comfort. Various control strategies are used to attenuate the vibration of primary and secondary (cabin) suspensions (Chen, 2009;Choi et al., 2003;Goncalves and Ahmadian, 2003;Pusadkar et al., 2019;Savaresi et al., 2004;Valasek et al., 1997;Yokoyama et al., 2001). Moreover, it is more effective to control the seat suspension directly (Bai and Yang, 2019;Han et al., 2012;Maciejewski, 2012;Ning et al., 2016;Phu et al., 2016). ...
A semiactive seat suspension control method is proposed in this study and applied to attenuate the vibration of the commercial truck seat for enhancing its ride comfort. The semiactive seat suspension system with a magnetorheological damper behaves with undesirable nonlinear properties. The proposed controller is a typical nonlinear controller, which takes the ideal sky-hook controller as the reference model and forces the tracking error vector. The controller has achieved great performance of attenuating vibration and is robust to parameter uncertainties and external disturbances. The relaxation oscillation phenomenon and convergence were also analyzed by the contribution of the phase portrait. As the phase portrait depicted, the sky-hook controller, a weakly nonlinear system, could be approximated by the equivalent linear approximate model. However, the proposed controller, the sky-hook sliding mode controller, is a strongly nonlinear system, which could not be linearized by the regular perturbation theory, and the criterion is given by the phase portrait. The experiment results showed good agreement with the simulation results, and some other matters encountered were also analyzed in the process of application.
... Semi-active suspensions were first introduced by Karnopp in the quarter, half and full car models. Semi-active control strategies researches focused primarily on linear systems, such as optimal control [6] and skyhook control [5][6][7][8][9][10], further nonlinear techniques also been applied by different researches [12]. ...
The purpose of this research paper is to analyze the effect of skyhook and groundhook control strategies on a semi-active suspension system. Computer simulation of the quarter-vehicle model is conducted through MATLAB/SIMULINK. The ride comfort and handling characteristics of the suspension system are predicted for random road input by the mathematical model. The passive suspension system performance is compared with skyhook and groundhook controlled semi-active suspension system. The result shows that the groundhook control offers better ride comfort and handling as compared to skyhook and passive suspensions. Also, the results showed in the time domain, frequency domain, power spectral density, and root mean squares values.
... That is why the semi-active suspension system has been widely studied to achieve high levels of performance in terms of vehicle suspension system. To control the damper of the semi-active suspension system, many control strategies including Skyhook Surface Sliding Mode Control [1], neural network control [2], H-infinity control [3], skyhook control, ground hook control, Hybrid control [4], [5], fuzzy logic control [6], [7], neural network-based fuzzy control [8], neuro-fuzzy control [9], discrete time fuzzy sliding mode control [10], optimal fuzzy control [11] , adaptive fuzzy logic control [12], [13] have been explored. Between all of the above control systems, the skyhook control proposed by Karnopp et al. in 1974 [14] is widely used since it yields the best compromise between vehicle performance and practical implementation of semi-active suspension systems. ...
In this chapter, a dynamic model of a full car which considers the road bank angle is developed. The first section describes the full car model design along with the vehicle tilting model. The vehicle rollover estimation procedure is described in Sect. 5.1. Section 5.2 describes the controller design that is required to control the vehicle tilt while cornering. The next section is comprised of descriptions of the road profiles and driving scenarios that will be used in simulation and experimental analysis in the next two chapters. The evaluation criteria are described in the last section to compare the results of different controllers in terms of ride comfort, admissible acceleration level test based on ISO 2631 and road handling performance.
... Chen [31] developed a skyhook surface sliding mode control method to enhance road comfort in a two degree semi active suspension system. The system utilized a 2-in-1-out FLC rule base having an error variable and a change in error variable as two inputs and the control force (U) as the output variable. ...
... , (16) , (17) The tabulated values of the system parameters have been elucidated below in Table II. The value of the suspension parameters and velocity were taken from [31] and the values of the parameters for variable dampers were taken from [30].The values of the stiffness and the tire spring constants in Equation 3-4 and the constants of the actuator forces in the active suspension system (Equation 5) was calculated by minimizing the vertical acceleration function as defined in [38]. The block diagram of the semi active suspension system utilizing the CFOA-PID based 3-in-1 out Fuzzy control system has been shown in Figure 7. ...
This study proposes a control strategy for the efficient semi active suspension systems utilizing a novel hybrid PID-fuzzy logic control scheme .In the control architecture, we employ the Chaotic Fruit Fly Algorithm for PID tuning since it can avoid local minima by chaotic search. A novel linguistic rule based fuzzy logic controller is developed to aid the PID.A quarter car model with a non-linear spring system is used to test the performance of the proposed control approach. A road terrain is chosen where the comfort and handling parameters are tested specifically in the regions of abrupt changes. The results suggest that the suspension systems controlled by the hybrid strategy has the potential to offer more comfort and handling by reducing the peak acceleration and suspension distortion by 83.3 % and 28.57% respectively when compared to the active suspension systems. Also, compared to the performance of similar suspension control strategies optimized by stochastic algorithms such as Genetic Algorithms (GA), Particle Swarm Optimization (PSO) and Bacterial Foraging Optimization (BFO), reductions in peak acceleration and suspension distortion are found to be 25%, 32.3%, 54.6% and 23.35 %, 22.5%, 5.4 % respectively.The details of the solution methodology have been presented in the paper.
... In [11] and [13] is used this technique as semi-active controller, with a variable damping coefficient, which depends only on the velocity of the vehicle body and the tire. In [12] is used the force of the skyhook damper equal of the suspension damper, and with that, it obtained a variable damping coefficient that depends only on the velocity of the vehicle body and the tire, it becomes a semi-active controller. ...
This work focuses on simulation and comparison of two control skyhook techniques applied to a quarter-car of the active suspension. The objective is to provide comfort to the driver. The main idea of skyhook control is to imagine a damper connected to an imaginary sky, thus, the feedback is performed with the resultant force between the imaginary and the suspension damper. The first control technique is the Mandani fuzzy skyhook and the second control technique is a Takagi-Sugeno fuzzy skyhook controller, in both controllers
the inputs are the relative velocity between the two masses and the vehicle body velocity, the output of the Mandani fuzzy skyhook is the coefficient of imaginary damper viscousfriction and the Takagi-Sugeno fuzzy skyhook is the force. Finally, we compared the techniques. The Mandani fuzzy skyhook showed a more comfortable response to the driver, followed closely by the Takagi- Sugeno fuzzy skyhook.
