Incremental proportion integration differentiation control of all-terrain vehicle magnetorheological suspension system under low-frequency disturbances

Abstract

In the intelligent control system of magnetorheological (MR) suspension of all-terrain vehicle(ATV), the low-frequency disturbance(LFD) in the measured feedback signal (acceleration) makes the controller unable to calculate the theoretical control force accurately. Especially, when the frequency of the LFD signal is close to that of the actual acceleration signal, the LFD can’t be filtered by designing a traditional filter. Based on the above questions, this paper proposes an incremental proportion integration differentiation (IPID) strategy to address the issue of LFD in the measured feedback acceleration signal of the MR suspension system of ATV. First of all, the model of 1/4 vehicle suspension in consideration of LFD is established, the source of LFD is analyzed which is due to the transformation of Coriolis acceleration under the condition of vehicle body pitch and roll. Next, a semi-active IPID controller is designed by utilizing differential derivation of discrete PID and semi-active principle to eliminate the LFD component mixed in the acceleration signal by making a difference. The particle swarm optimization (PSO) algorithm is utilized to optimize the parameters of the controller, which is then verified through numerical simulation. Subsequently, a real vehicle control experiment is carried out based on a 4x4 ATV equipped with the MR suspension system and implemented by DSP controller with the designed IPID algorithm. The effectiveness of the prosed method is evaluated under the speed 10km/h and E road. And the designed method is compared with the traditional PID control algorithm through simulation and experimentation to demonstrate the superiority and rationality of "filtering out" LFD signal and improving control effectiveness.

Structural design and multi-objective optimization of a novel asymmetric magnetorheological damper

“…As shown in table 1, the fitting of the five-term equation and test results is more successful. Equation (10) depicts the polynomial, and figure 6 depicts the link between the fitting curve and test data.…”

“…where, τ y is shear yield stress, in kPa, and B is magnetic field intensity, in mT. Equation (10) reveals the relationship between the shear yield strength of MR materials and the magnetic flux density B, which provides theoretical guidance for the design of CFC-MRD. In addition, the properties of the material are related to the magnetic flux density B, so it is necessary to analyze the magnetic circuit part of the damper.…”

“…analysis of different control algorithms [9,10]. Due to complex terrain, ATVs encounter diverse impacts and vibrations.…”

Assessment of the Dynamic Range of Magnetorheological Gradient Pinch-Mode Prototype Valves

“…The MR pinch valve incorporated a thru-hole circular channel (diameter: D = 3 mm) (4), magnetic core assembly (1), and electromagnetic coil with N = 300 wire turns (3). The magnetic core assembly revealed two magnetic pole pieces (1), a bronze non-magnetic spacer (2), and an air gap (5). The air gap To determine the relationship between the input flow rate, Q, through the valve and the resulting pressure drop, the simple linear regression model was applied as follows:…”

“…Since its discovery in the mid-20th century, the technology has been commercialized primarily in semi-active vehicle suspension systems (in the form of continuously variable 2 of 14 MR fluid-based dampers) [4,5], MR powertrain mounts [6,7], or civil engineering applications [8][9][10]. The technology is valveless, contrary to conventional semi-active valve-based dampers.…”