General Theory of Skyhook Control and its Application to Semi-Active Suspension Control Strategy Design

Liu, Changning; Chen, Long; Yang, Xiaofeng; Zhang, Xiaoliang; Yang, Yi

doi:10.1109/access.2019.2930567

Cited by 59 publications

(31 citation statements)

References 25 publications

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“…6 In recent years, based on the ''skyhook damper'' scheme, novel semiactive suspension control strategies and structures have been proposed. [7][8][9][10] Most modern vehicle control systems employ a feedback control structure. Therefore, the real-time estimation of the vehicle's dynamic states is required to enhance the performance of the vehicle's control system.…”

Section: State Of the Artmentioning

confidence: 99%

Comparative simulation study on two estimation methods and two control strategies for semi-active suspension

Wang

Dong

et al. 2021

Advances in Mechanical Engineering

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With regard to the structural characteristics of the McPherson suspension system, when a vehicle is being driven on a rough road surface, the force direction of the suspension varies. This poses challenges to the vehicle’s driving safety and handling stability. Based on Lagrangian equations, this paper proposes a new nonlinear semi-vehicle suspension model and presents comparative studies, conducted through simulation, on the estimated accuracy and computational overhead of the small-computational-overhead extended Kalman filter (EKF) and unscented Kalman estimation (UKF) methods, and on the effectiveness of the skyhook sliding mode control (SHSMC) and nonlinear skyhook-sliding mode control (NSHSMC) semi-active suspension control methods. The response of the vehicle to the state estimation algorithm was evaluated through computer simulations using the Carsim vehicle dynamic software. The simulation results reveal that the vehicle dynamic states were satisfactorily estimated when the vehicle was driven on a rough road surface. Compared with the small-computational-overhead EKF algorithm, the estimated results of these variables based on the UKF algorithm have higher accuracy. However, the UKF algorithm requires longer computation time compared with the EKF algorithm. The SHSMC control algorithm achieved greater improvement for the vehicle’s drive handling stability in the 6–10-Hz vibration region compared with the NSHSMC control algorithm. In a high-frequency region over 10Hz, the semi-active suspension controlled by the SHSMC method had a more adverse effect on the driving comfort.

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Section: State Of the Artmentioning

confidence: 99%

Comparative simulation study on two estimation methods and two control strategies for semi-active suspension

Wang

Dong

et al. 2021

Advances in Mechanical Engineering

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“…Taking the traditional passive suspension, the passive ISD suspension and the controllable ISD suspension as objects, the three performance indexes of the body acceleration, suspension working space and dynamic tire load at speeds of 10 m/s, 20 m/s and 30 m/s are compared and studied, and the comparison of their RMS values is shown in Table 4. The simulations at the speed of 20 m/s are carried out under random road input conditions [33], as shown in Figure 8. It can be seen from Table 4 and Figure 8 that under the conditions of a random road input and when the vehicle speeds are 10 m/s, 20 m/s and 30 m/s, compared with the traditional passive suspension, the RMS value of body acceleration of the controllable ISD suspension has been decreased by 26.7% at most and the RMS value of suspension working space of the controllable ISD suspension has been decreased by 3.8% at most.…”

Section: Simulation Of Random Road Inputmentioning

confidence: 99%

Optimal Design and Dynamic Control of an ISD Vehicle Suspension Based on an ADD Positive Real Network

et al. 2020

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As a two-terminal mass element, an inerter makes up for the lack of mass impedance in a traditional vehicle suspension system. A passive Inerter-Spring-Damper (ISD) suspension can significantly improve vibration isolation performance in a low frequency range, while the impact is not obvious in other frequency bands. To isolate a wider frequency of vibrations in a vehicle suspension system on the basis of an ISD suspension, this paper combines the concepts of using an Acceleration-Driven-Damping (ADD) approach, which can effectively suppress vibrations in medium and high frequency bands, and an ISD passive network, which is superior in low frequency bands. First, an ideal model optimization design method of an ISD vehicle suspension based on an ADD positive real network is proposed, and a second-order model is built. The parameters are optimized by means of the artificial fish swarm algorithm considering both positive real constraints and suspension performance constraints. Then, on the basis of the optimal ideal model, a radial basis function sliding mode controller is designed to control the ISD vehicle suspension system using a mechatronic inerter. Finally, simulations and experiments are carried out to verify the dynamic performance of the proposed ISD suspension. The results show that a controllable ISD suspension system based on an ADD positive real network can improve the suspension performance effectively and isolate a wide range of frequency vibrations. This research provides theoretical evidence and methodological guidance for further enriching the design and dynamic control of ISD suspension systems. INDEX TERMS Vehicle suspension, inerter, ADD positive real network, sliding mode control, bench test.

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“…10. The kinetic equations of this model are as follows: The control strategy and suspension model are selected the GSH (General Skyhook) control suspension [32]. It contains the skyhook damper control [33][34] section and the skyhook inerter control [35] section.…”

Section: Suspension With Calibrated Nonlinear Inerter a Quarter-mentioning

confidence: 99%

“…The suspension parameters are shown in Table II. The integral white noise in time-domain is selected as the road input x r , the input equation is: (32) where G 0 is the road roughness coefficient and it is set as 5×10 -6 m 3 /cycle, u is the vehicle speed and u = 20 m/s, w(t) is a mean value of zero Gauss white noise.…”

Section: Suspension With Calibrated Nonlinear Inerter a Quarter-mentioning

confidence: 99%

Design and Tests of a Controllable Inerter With Fluid-Air Mixture Condition

et al. 2020

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To realize the control of the inerter and establish a more realistic model of the controllable inerter, this paper designs a controllable inerter and analyzes its nonlinear factors. The ideal model, conventional nonlinear model, and calibrated nonlinear model of the controllable inerter are analyzed and the compressibility of fluid is studied. The prototype of a controllable inerter is tested on the bench and the friction force is identified. The bulk modulus of the fluid in controllable inerter in the fluid-air mixture condition and the pure fluid condition are analyzed. A suspension kinetics model with nonlinear controllable inerter is established. And the performances of the suspension with different nonlinear models are analyzed. The result shows that the inerter force can be reflected through the calibrated nonlinear model. The mixed air has a serious negative effect on the suspension performance and the nonlinear factors will take a negative effect on the control results.

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General Theory of Skyhook Control and its Application to Semi-Active Suspension Control Strategy Design

Cited by 59 publications

References 25 publications

Comparative simulation study on two estimation methods and two control strategies for semi-active suspension

Comparative simulation study on two estimation methods and two control strategies for semi-active suspension

Optimal Design and Dynamic Control of an ISD Vehicle Suspension Based on an ADD Positive Real Network

Design and Tests of a Controllable Inerter With Fluid-Air Mixture Condition

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