Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

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• 作者：Hailong Zhang (1) (2)
  Enrong Wang (2)
  Ning Zhang (1)
  Fuhong Min (2)
  Rakheja Subash (3)
  Chunyi Su (3)
  
  1. School of Physics and Technology ; Nanjing Normal University ; Nanjing ; 210042 ; China
  2. School of Electric and Automation Engineering ; Nanjing Normal University ; Nanjing ; 210042 ; China
  3. Department of Mechanical Engineering ; Concordia University ; Montreal ; H3G 1M8 ; Canada
  
• 关键词：magneto ; rheological damper ; vehicle suspension ; multi ; objective performance ; semi ; active sliding mode control ; filtering
• 刊名：Chinese Journal of Mechanical Engineering
• 出版年：2015
• 出版时间：January 2015
• 年：2015
• 卷：28
• 期：1
• 页码：63-75
• 全文大小：1,641 KB
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• 刊物主题：Mechanical Engineering; Theoretical and Applied Mechanics; Manufacturing, Machines, Tools; Engineering Thermodynamics, Heat and Mass Transfer; Power Electronics, Electrical Machines and Networks; Electronics and Microelectronics, Instrumentation;
• 出版者：Springer Berlin Heidelberg
• ISSN：2192-8258

文摘

The vehicle semi-active suspension with magneto-rheological 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.