Abstract:The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous skyhook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

The essence of the undertaken topic is the problem of estimation of state vector in the model of 2S1 tracked vehicle suspension system through the use of Extended Kalman Filter. The use of non-linear filter has become necessary due to the magnetorheological damper located at suspension system, which has been described by hyperbolic model. Application of the damper caused the tested suspension system has become a semi-active structure in which the hybrid control was applied. The choice of this type of control stems from the fact that in the case of tracked combat vehicles in addition to the advantageous conditions of work of vehicle crew also cornering stability and the possibility of sudden acceleration or braking is important. The hybrid control allows to determine a compromise between ride comfort and stability of 2S1 platform.

This work aimed to improve the vehicle body stability and the ride comfort of the tracked military vehicle crew. For this purpose, magnetorheological fluid dampers were used. This process has made the theoretical model of the tracked platform a semi-active suspension system. This modification allows for the application of different control laws to these systems. The usage of the continuous skyhook control law assumes the influence of three fictitious viscous dampers. Their force in this conceptual model is replicated by the magnetorheological dampers of the suspension in the real system. However, the continuous skyhook control law does not take into consideration the nonlinear stiffness characteristics. In this paper, the continuous skyhook control law has been appropriately modified. The modification takes into consideration the nonlinearity of the stiffness characteristics. Applying the modified continuous skyhook control law improves the stability of the vehicle body and the vehicle crew’s ride comfort. All these goals had to be introduced due to the modernization of the tracked military vehicle suspension by replacing the torsion bars with spiral spring packages with nonlinear characteristics.

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