Implementation of model-free motion control for active suspension systems

Wang, Jue; Jin, Fujiang; Zhou, Lichun; Li, Ping

doi:10.1016/j.ymssp.2018.10.004

Cited by 39 publications

(19 citation statements)

References 32 publications

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“…Electro-hydraulic actuators (EHA) are preferentially embedded in active suspension systems due to their advantages of a high power-to-weight ratio, low maintenance cost and fast response characteristics [5], [6]. Among most reported studies concerning active suspension control, active suspension electro-hydraulic actuators (ASE-HAs) are regarded as force-output elements, no matter their nonlinear dynamics are considered [6]- [8] or not [2], [3], [9]. In practical scenarios, complicated road conditions will lead to inevitable and drastic work pressure fluctuations in an ASEHA system, which make it difficult to guarantee the force control precision and the expected suspension control requirements.…”

Section: Introductionmentioning

confidence: 99%

“…Then, a compensated controller is synthesized to realize the desired control target based on the obtained estimates. Recently, a number of observer-based output feedback controllers have been developed for active suspension systems [4], [9], [19], [20] and EHA systems [21]- [24], which are able to deal with the nonlinearities and uncertainties effectively. Unfortunately, many methods designed for EHA systems suffer from limitations.…”

Section: Introductionmentioning

confidence: 99%

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Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Zhao

et al. 2020

IEEE Access

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In this paper, an output feedback controller based on a novel sampled-data nonlinear extended state observer (SDNLESO) is proposed for an active suspension electro-hydraulic actuator (ASEHA) system to address the heavy nonlinearities, model uncertainties and sampled-data behavior. The designed controller only requires little prior knowledge about the controlled system for the purpose of position tracking. The SDNLESO, integrating a novel nonlinear extended state observer and an output predictor, is developed to simultaneously and continuously estimate the unmeasurable states and total disturbance for an error dynamic system rather than the original ASEHA system, where the actual discrete displacement tracking error between measurement output and the reference signal serves as the observer input. Then, a compensated controller is synthesized based on the obtained estimates, which is robust against the matched and mismatched disturbances of the system while being able to ensure an expected transient tracking performance and final tracking accuracy. By constructing weighted error system and using the geometric homogeneity theory, the SDNLESO convergence is proven, while the maximum allowable sampling period is derived theoretically for guiding the selection of the actual sampling interval. Moreover, the closedloop system stability and the tracking error exponential convergence are guaranteed within the Lyapunov framework. Finally, a number of practical experiments are carried out on the ASEHA system test platform. The results show that the proposed control method is applicable and valid for nonlinear and uncertain ASEHA system despite the existence of a large actuator area ratio. INDEX TERMS Active suspension elctro-hydraulic actuator (EHA), nonlinearity, output feedback, sampled-data observer, uncertainty.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Zhao

et al. 2020

IEEE Access

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“…Some scholars have also proposed strategies that adopted active damping of structural vibrations inside the control loop [7][8][9]. In the modern time, there are many various ways to control vibration behavior, such as neural networks [10,11], fuzzy control [12,13], and sliding mode control [14,15]. These methods can achieve higher control bandwidth by applying notch filters in the control loop.…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Tuning Approach of the Notch Filter of the Servo Feed Drive System

Liu

Tsai

Hong

et al. 2020

JMMP

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To alleviate the vibration effect of the feed drive system, a traditional approach is to apply notch filters to suppress vibrations in the velocity loop. The current approach is to adjust the notch filter parameters such as the center frequency, damping and depth based on observing the frequency response diagram of servo velocity closed loop. In addition, the notch filters are generally provided in the velocity loop control for the commercialized controllers such as FANUC, Siemens, etc. However, the resonance of the transmission system also appears in the position loop when the linear scale is used as the position feedback. The notch filter design without consideration of the resonance behavior of the position loop might cause degradation of performance. To overcome this problem, the paper proposes an innovative method which could automatically determine the optimal parameters of the notch filter under the consideration of resonance behavior of position loop. With the optimal parameters, it is found that both the gains of position and velocity loop controller could be increased such that the bandwidths of the position/velocity loops are higher. Based on the simulation results, the rising time is improved by 33% and the time for reaching the steady state is improved by 72% as comparing the cases of using the optimal approach and traditional approach.

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“…In fact, the tuning of intelligent controller parameters is quite simple (Haddar et al, 2019b) while the calibration process of ADRC (Hasbullah and Faris, 2017) is more complicated since it has many tuning parameters to be chosen by the designer. Furthermore, due to the choice of the classical Extended State Observer bandwidth (Pusadkar et al, 2019;Wang et al, 2019), a trade--off between the tracking performance and the perturbation rejection can be found (Pan et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

MIMO intelligent-PID controller design for half car system based on model free control technique

Djemal¹,

Haddar²,

Başlamışlı³

et al. 2020

Journal of Theoretical and Applied Mechanics

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A novel decoupled Multi-Input-Multi-Output Model Free Control strategy is presented in this paper to improve the performance of an active suspension system implemented on a half car model. To damp vibrations generated by road excitation, an algebraic online compensator was integrated in the structure of a classical PID controller to avoid the impact of unpredictable disturbances. The key element of the proposed technique is a non-asymptotic observer that can avoid the use of statistical conventional techniques. Furthermore, the advantage of easy implementation is achieved where only two accelerometers are sufficient and adequate. A comparison with classical PID and LQR is provided to demonstrate the improvement made by the proposed scheme.

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Implementation of model-free motion control for active suspension systems

Cited by 39 publications

References 32 publications

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Output Feedback Control for Active Suspension Electro-Hydraulic Actuator Systems With a Novel Sampled-Data Nonlinear Extended State Observer

Development of a Novel Tuning Approach of the Notch Filter of the Servo Feed Drive System

MIMO intelligent-PID controller design for half car system based on model free control technique

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