Handbook of Vehicle Suspension Control Systems
2: Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China
3: Liaoning Shihua University, Fushun, China
Handbook of Vehicle Suspension Control Systems surveys the state-of-the-art in advanced suspension control theory and applications. Topics covered include an overview of intelligent vehicle suspension control systems; intelligence-based vehicle active suspension adaptive control systems; robust active control of an integrated suspension system; an interval type-II fuzzy controller for vehicle active suspension systems; active control for actuator uncertain half-car suspension systems; active suspension control with finite frequency approach; fault-tolerant control for uncertain vehicle suspension systems via fuzzy control approach; h-infinity fuzzy control of suspension systems with actuator saturation; design of sliding mode controllers for semi-active suspension systems with magnetorheological dampers; joint design of controller and parameters for active vehicle suspension; an LMI approach to vibration control of vehicle engine-body systems with time delay; and frequency domain analysis and design of nonlinear vehicle suspension systems. With contributions from an international selection of researchers, Handbook of Vehicle Suspension Control Systems will find a place on the bookshelves of academic researchers and industrial practitioners in control engineering, particularly those working on applications for the automotive industry.
Inspec keywords: actuators; sensors; suspensions (mechanical components); vehicles
Other keywords: actuator; sensing; active suspension systems; control applications; control theory; modeling; vehicle suspension control systems
Subjects: Control technology and theory (production); Sensing devices and transducers; Transportation industry; Vehicle mechanics; General and management topics; Engineering mechanics; Mechanical components; Transducers and sensing devices; General electrical engineering topics; Transportation system control
- Book DOI: 10.1049/PBCE092E
- Chapter DOI: 10.1049/PBCE092E
- ISBN: 9781849196338
- e-ISBN: 9781849196345
- Page count: 424
- Format: PDF
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Front Matter
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1 State-of-the-art of vehicle intelligent suspension control system
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This chapter reviews the state-of-the-art of modeling and control design in intelligent suspension systems. After briefly reviewing the evaluation criterion of vehicle suspension performance, some new methods of modeling vehicle suspension are summarized. These methods are beneficial in the development of intelligent suspensions. Then some control algorithms of dealing with nonlinearity, uncertainty, time delay, and fault are reviewed. The validation methods of control algorithms are discussed. Lastly, final remarks and conclusions are given.
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2 Intelligence-based vehicle active suspension adaptive control systems
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This chapter reviews computational-intelligence-involved approaches in active vehicle suspension control systems with a focus on the problems raised in practical implementations by their nonlinear and uncertain properties. After a brief introduction on active suspension models, the chapter explores state-of-the-art in fuzzy inference systems, neural networks, genetic algorithms, and their combination for suspension control issues. Discussion and comments are provided based on the reviewed simulation and experimental results. The chapter is concluded with remarks and future directions.
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3 Robust active control of an integrated suspension system
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This chapter presents the study of robust active control of an integrated vehicle suspension system that consists of chassis suspension, seat suspension, and driver body models. This integrated system has five control inputs and ten control outputs and each control input may require different feedback signals and have different saturation limits. Taking the measurement available variables as feedback signals, an H∞ static output feedback controller is designed to improve vehicle ride comfort performance in terms of driver head acceleration under the constraints of actuator saturation, suspension deflection limitation, and road holding capability. The parameter uncertainties to the driver body are considered in the controller design procedure. The controller design conditions, which are expressed as linear matrix inequalities (LMIs), are derived by dealing with each control input separately under a common Lyapunov function so that a feasible solution can be found. Furthermore, force tracking control strategy is applied to implement the proposed control system using electrohydraulic actuators. The improvement of ride comfort is evaluated by using numerical simulations on the driver head acceleration responses under a typical road disturbance.
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4 An interval type-2 fuzzy controller for vehicle active suspension systems
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A novel interval type-2 fuzzy controller architecture is proposed for resolving nonlinear control problems of vehicle active suspension systems. It integrates Takagi-Sugeno (T-S) fuzzy model, interval type-2 fuzzy reasoning, the Wu-Mendel uncertainty bounds method, and selected optimization algorithms in order to construct the switching routes between generated linear model control surfaces. The stability analysis of the proposed approach is presented. The proposed method is implemented into a numerical example and a case study on a nonlinear half-vehicle active suspension system. The simulation results demonstrate the effectiveness and efficiency of the proposed approach.
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5 Active control for actuator uncertain half-car suspension systems
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This chapter designs a non-fragile H∞ controller for a class of active suspension systems with actuator uncertainty. By using Lyapunov stability theory, a nonfragile controller is designed for the purpose of ensuring that the resulting active suspension system is asymptotically stable with a prescribed H∞ disturbance attenuation level. The designed non-fragile H∞ controller is constructed via convex optimization by guaranteeing its sufficient condition in terms of feasible linear matrix inequalities (LMIs). Simulation results are given to show the effectiveness of the proposed control approach.
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6 Active suspension control with finite frequency approach
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In this chapter, the problem of vehicle active suspension control with frequency band constraints is investigated. According to the online availability of state measurements, both state feedback and dynamic output feedback control problems are solved, based on the generalized Kalman-Yakubovich-Popov (KYP) lemma. Compared with the traditional entire frequency approach for active suspension systems, the finite frequency approach proposed in this chapter achieves better disturbance attenuation performance for the chosen frequency range, and meantime the constraints required by real situation are guaranteed in the controller design. The effectiveness and merits of the proposed method are verified by a number of simulations with several types of road disturbances.
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7 Fault-tolerant control for uncertain vehicle suspension systems via fuzzy control approach
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This chapter investigates the problem of fault-tolerant fuzzy controller design for active vehicle suspension systems. We use Takagi-Sugeno (T-S) fuzzy model approach to study the suspension systems with the sprung and unsprung masses' variation, the actuator fault, and other suspension performances. A novel fault-tolerant fuzzy controller is designed such that the resulting T-S fuzzy system is asymptotically stable and has a prescribed H∞ performance under given constraints. Finally, some simulation results based on a quarter-vehicle suspension model are provided to demonstrate the effectiveness of the approaches of the proposed design.
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8 H ∞ fuzzy control of suspension systems with actuator saturation
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This chapter focuses on H∞, fuzzy control of suspension systems under actuator saturation. The Takagi-Sugeno (T-S) approach is used to model the suspension system (quarter, half and full cars) by interpolation of different local linear models. A nonlinear state feedback control parallel distributed compensation (PDC) is employed for designing control system. The main idea of this controller consists in designing a linear feedback control for each local linear model. To address the input saturation problem, both constrained and saturated control input cases are proposed. In the two cases, H∞, stabilization conditions are derived using Lyapunov method. Moreover, a controller design with the largest domain of attraction is formulated and solved as a linear matrix inequality optimization problem. An application to quarter-car suspension system is given. Our simulation results show that both saturated and constrained controls can stabilize the resulting closed-loop suspension quarter car via PDC control and eliminate the effect of external disturbances despite the presence of saturation. Indeed, the main roles of car suspension systems which consist of improving ride comfort of passengers and the road holding capacity of the vehicle are achieved.
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9 Design of sliding mode controller for semi-active suspension systems with magnetorheological dampers
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This chapter presents two sliding mode controllers of semi-active suspension systems with magnetorheological dampers, which have undesirable nonlinear properties. One sliding mode controller is based on the theory of model-following control. In the model-following controller, a desired semi-active suspension system is chosen as the reference model to be followed, and the control law is determined so that an asymptotically stable sliding mode occurs in the error dynamics between the plant and the reference model states. The advantages of this controller are as follows: (1) measurement of the damping force is not required, (2) the reference model specifies the desired performance considering the passivity constraint of the damper, and (3) it is entirely possible to maintain the sliding mode and achieve high robustness against the nonlinear properties of the damper. The other sliding mode controller is designed by the describing function method so that a switching function is enforced into a desired limit cycle instead of a perfect sliding mode. Although the proposed sliding mode controller cannot generate the limit cycle as desired because of the passivity constraint of controllable dampers, restricting the switching function in the vicinity of the origin can suppress the deterioration due to the passivity constraint, such as increase in jerk of the sprung mass. Moreover, a method for designing an observer is introduced for semi-active suspension systems using variable structure system theory, which provides a highly robust property against modeling errors and disturbances in the context of the matching conditions. The structure of the introduced observer is designed to be robust against road variations, which can be seen as nonstationary system disturbances. Although this structure basically requires the actual damping force to be measured, it is estimated using a model of the damper. Thus, the effect of the estimation errors of the damping force on the state estimation is discussed in detail, and the sufficient conditions for stability of the observer are given using Lyapunov's theory. As a result, both the structure and the design process of the proposed observer are simplified in comparison with existing ones.
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10 Joint design of controller and parameters for active vehicle suspension
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This chapter considers a joint design problem for a vehicle active suspension system to optimize system parameters and a controller with constraints simultaneously. A model of quarter-car system with an active suspension is presented first. In view of the practical constraints of the acting force and suspension stroke, a mixed H∞/GH2 control is employed to attenuate the vibration of the system. By considering that both the controller and parameters of the system have great effect on the control performance, this chapter uses genetic algorithm (GA) to search for the desirable parameters and obtain the corresponding controller jointly. Simulations are given to demonstrate the effectiveness and superiority of the joint design approach in comparison with the open-loop, non-optimized and partly optimized systems.
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11 System approach to vehicle suspension system control in CAE environment
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In recent years, the motor vehicle industry has shown a tendency of replacing electro-mechanical components by mechatronic systems with intelligent and autonomous properties. The integration of hardware components and implementation of advance control function characterize this replacement. In this text, we have applied the system approach and system engineering methods in the initial phase of vehicle active suspension development. An emphasis has been placed upon the interrelations between computer-aided simulation and other elements of development process. The benefits of the application of active suspension simulation are numerous: reduction of time to market, the new and improved functions of mechatronic components/devices, and the increased system reliability. In suspension model development, we used CAD/CAE tools, as well as the multipurpose simulation programs. For simulation, we used the quarter-car model. The modeling was carried out through the state-space equation, after which we designed two variants of controller for the suspension system - proportional-integral-derivative (PID) controller and neural network controller.
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12 Vibration control of vehicle engine-body systems with time delay: an LMI approach
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The objective of this chapter is to study the problem of vibration control analysis and synthesis in a vehicle engine-body vibration structure. It is assumed that the actuator is subject to a time-varying delay for control of bounce and pitch vibrations. Based on a Lyapunov-Krasovskii functional and using some free weighting matrices, delay-dependent sufficient conditions for designing desired state- and output-feedback controllers are given in terms of linear matrix inequalities (LMIs). The state- and output-feedback controllers, which guarantee asymptotic stability with a prescribed γ-level L2-gain (or H∞ performance), are then developed directly instead of coupling the second-order model to a first-order system. The controller gains are determined by convex optimization over LMIs. Simulation results are included to demonstrate the validity and applicability of the technique.
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13 Frequency domain analysis and design of nonlinear vehicle suspension systems
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In the analysis and design of vehicle suspension systems, springs and dampers, which are usually inherently nonlinear, are the most crucial elements to improve the ride comfort, assure the stability, and increase the longevity of suspension systems to a large extent. Therefore, it is of great significance to determine a proper stiffness and damping characteristics to meet various requirements in practice. In this study, a nonlinear frequency domain analysis method is introduced for nonlinear analysis and design of vehicle suspension systems. The explicit relationship between system output spectrum and model parameters is derived by using the nonlinear frequency domain analysis method, and the characteristic parameters of interest can therefore be analyzed directly. The optimal nonlinear stiffness and damping characteristics of vehicle suspension systems can then be achieved. Comparative studies indicate that the optimal nonlinear damping characteristics demonstrate better dynamic performance than the corresponding linear counterparts and several existing nonlinear optimal damping characteristics obtained by simulations. Simulation studies based on the full vehicle dynamic model verify the nonlinear advantages in terms of three different vehicle evaluation standards. The study shows that the nonlinear optimal damping characteristic obtained by using the nonlinear frequency domain analysis method is very helpful in improvement of vehicle vibration performance and decrease of suspension stroke. Meanwhile, the optimized nonlinear damper will not cause any negative effect on the handling capability.
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Back Matter
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