scispace - formally typeset
Search or ask a question
Proceedings ArticleDOI

Control of a semi-active suspension with a magnetorheological damper modeled via Takagi-Sugeno

TL;DR: In this paper, the authors presented a Takagi-Sugeno (T-S) fuzzy model for a two-degrees-of-freedom (2-DOF) one-quarter-vehicle semiactive suspension with an MR damper.
Abstract: Magnetorheological (MR) dampers have proved to be an attractive solution in improving vehicle stability and passenger comfort. However, handling with these dampers, which contain highly nonlinear phenomena, implies a strong effort in modeling and control. This research presents a Takagi-Sugeno (T-S) fuzzy model, not reported before, for a two-degrees-of-freedom (2-DOF) one-quarter-vehicle semiactive suspension with an MR damper. The objective is to prove that an MR damper, represented by the Bouc-Wen approach, is suitable for control purposes. Moreover, the model developed in [14], was reformulated into a more compact control-oriented model. The stability condition is given in terms of Lyapunov stability theory, and carried out by means of Linear Matrix Inequalities (LMI). Due to system's fuzzy nature, the controller gain is applied via Parallel Distributed Compensation (PDC) through a static state feedback controller for each linear subsystem. The advantage of having the T-S system as a reference is that each piecewise linear system can be exposed to the well-known control theory regarding: stability, robustness, and performance. Besides, the novel model encloses the nonlinear damper phenomena, avoided in another reported work, i.e. [9], and [11], which can improve the suspension study by means of a more accurate model. A numerical case and simulation work support the results. This research introduces a more accurate control oriented model that can be applied in the suspensions performance domain towards comfort and stability improvement.
Citations
More filters
Journal ArticleDOI
TL;DR: In this paper, a state-observer-based Takagi-Sugeno fuzzy controller (SOTSFC) design for a semi-active quarter-car suspension installed with a magnetorheological (MR) damper was investigated.
Abstract: Much research has gone into developing advanced control algorithms for semi-active suspension. Experimental validation of these control algorithms is critical for their practical applications. This paper investigates a state-observer-based Takagi–Sugeno fuzzy controller (SOTSFC) design for a semi-active quarter-car suspension installed with a magnetorheological (MR) damper and provides proof of the effectiveness of the proposed controller. To conduct the test, a quarter-car test rig and control system hardware were used. Then, a new MR damper was designed and built to fit with the test rig. After that, the SOTSFC for the quarter-car test rig was developed. Finally, several tests were conducted on the quarter-car suspension in order to investigate the real effect of the SOTSFC. It was then compared with the use of a skyhook controller to demonstrate its benefits.

98 citations


Cites methods from "Control of a semi-active suspension..."

  • ...A class of control strategies utilizing the Takagi–Sugeno (TS) fuzzy modeling approach was proposed to deal with the nonlinearity of the vehicle suspension installed with an MR damper [18]–[23]....

    [...]

Journal ArticleDOI
TL;DR: In this paper, the direct voltage control of a magnetorheological (MR) damper for application in vehicle suspensions is studied, where the MR damper dynamics is represented by a Takagi?Sugeno (TS) fuzzy model and an H? controller that considers the suspension performance requirements and the constraint on the input voltage is designed.
Abstract: The paper presents a study on the direct voltage control of a magnetorheological (MR) damper for application in vehicle suspensions. As MR damper dynamics is highly nonlinear, the direct control system design for an MR damper is difficult. Representing an MR damper by a Takagi?Sugeno (TS) fuzzy model enables the linear control theory to be directly applied to design the MR damper controller. In this paper, first the MR damper dynamics is represented by a TS fuzzy model, and then an H? controller that considers the suspension performance requirements and the constraint on the input voltage for the MR damper is designed. Furthermore, considering the case that not all the state variables are measurable in practice, the design of an H? observer with immeasurable premise variables and the design of a robust controller are proposed, respectively. Numerical simulations are used to validate the effectiveness of the proposed approaches.

62 citations


Cites methods from "Control of a semi-active suspension..."

  • ...Different from the study of [22], where the TS fuzzy model of an MR damper was identified by training the input–output data sets and the accuracy was fully dependent on expert experience in selecting appropriate fuzzy sets and fuzzy rules [23], the TS fuzzy model of an MR damper will be obtained in this paper by considering the Bouc–Wen MR damper model [24] and using the approach of ‘sector nonlinearity’ [25]....

    [...]

  • ...To simplify the representation of the MR damping force [24], a simple Bouc–Wen model, which can accurately predict the force–displacement behaviour of an MR damper like the phenomenological model (1) (also called modified Bouc–Wen model) [27] and is well suited for numerical simulation [26], will be adopted here....

    [...]

Journal ArticleDOI
TL;DR: It is shown from simulation that VSVD can increase tire normal forces and make vehicles present better performance on lateral stability and be inserted into a full vehicle model as a front suspension system to control tirenormal forces.
Abstract: The capability of a variable stiffness and damping (VSVD) suspension system via a magnetorheological (MR) damper on improving vehicle lateral stability is investigated in this paper. First, a type of the VSVD suspension system is briefly introduced with the application of variable damping to realize the capability of VSVD. Then, variable damping via the MR damper is extended, and the characteristics of damping force are presented with the Bouc-Wen model. Then, the proposed VSVD system is inserted into a full vehicle model as a front suspension system to control tire normal forces. A control strategy composed of a fuzzy controller that the output is wheel slip ratio and a simple on/off controller to model the application of VSVD is developed to illustrate its ability in improving vehicle stability. It is shown from simulation that VSVD can increase tire normal forces and make vehicles present better performance on lateral stability.

37 citations

Journal ArticleDOI
TL;DR: The results of simulations show that the proposed ANFIS-hybrid controller provides better isolation performance than the other controllers.
Abstract: The main function of a vehicle suspension system is to isolate the vehicle body from external excitation in order to improve passenger comfort and road holding and to stabilise its movement. This p...

35 citations


Cites methods from "Control of a semi-active suspension..."

  • ...Reference [17] presented a Takagi-Sugeno (T-S) fuzzy model for the analysis of a quarter car semiactive suspension with an MR damper....

    [...]

Journal ArticleDOI
TL;DR: This research work presents an H ∞ controller based on a Takagi–Sugeno (T–S) fuzzy model for a two-degrees-of-freedom (2-DOF) one-quarter-vehicle semi-active suspension with a magnetorheological damper where the actuator dynamics are included in the control synthesis.
Abstract: This research work presents an H ∞ controller based on a Takagi–Sugeno (T–S) fuzzy model for a two-degrees-of-freedom (2-DOF) one-quarter-vehicle semi-active suspension with a magnetorheological damper where the actuator dynamics are included in the control synthesis. These dynamics enclose nonlinear damper phenomena, avoided in many other studies, and that can improve the suspension system by means of a more accurate model. The objective is to obtain a semi-active suspension that considerably improves the passive suspension efficiency based on some frequency domain performance criteria. The advantage of having the T–S system as a reference is that each piecewise linear system can be exposed to the well-known control theory. Besides, the proposed solution is compared with the recent reported work to highlight its advantages. A case of study is included and simulation work supports the results. The methodology applied herein can be extended to a half-vehicle model, and to the four wheels to have a global c...

24 citations


Cites methods from "Control of a semi-active suspension..."

  • ...The solution presented in Félix-Herrán et al. (2010) was extended with more advance control techniques....

    [...]

  • ...S fuzzy model based on the damper’s Bouc–Wen representation, as presented in Félix-Herrán et al. (2010)....

    [...]

  • ...a more compact control-oriented T–S fuzzy model based on the damper’s Bouc–Wen representation, as presented in Félix-Herrán et al. (2010). Although modelling simplification approach generates acceptable stability results in closed-loop, Félix-...

    [...]

References
More filters
Book
01 Feb 1992
TL;DR: In this article, the authors attempt to find a middle ground by balancing engineering principles and equations of use to every automotive engineer with practical explanations of the mechanics involved, so that those without a formal engineering degree can still comprehend and use most of the principles discussed.
Abstract: This book attempts to find a middle ground by balancing engineering principles and equations of use to every automotive engineer with practical explanations of the mechanics involved, so that those without a formal engineering degree can still comprehend and use most of the principles discussed. Either as an introductory text or a practical professional overview, this book is an ideal reference.

3,166 citations


"Control of a semi-active suspension..." refers background in this paper

  • ...HE suspension system in a vehicle has the objective of absorbing the road disturbances, while keeping the tires in contact with the road surface, [1]-[ 3 ]....

    [...]

Book
13 Dec 1978
TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.
Abstract: Preface. Preface to the Third Edition. Preface to the Second Edition. Preface to the First Edition. Conversion Factors. Nomenclature. Introduction. 1. MECHANICS OF PNEUMATIC TIRES. 1.1 Tire Forces and Moments. 1.2 Rolling Resistance of Tires. 1.3 Tractive (Braking) Effort and Longitudinal Slip (Skid). 1.4 Cornering Properties of Tires. 1.4.1 Slip Angle and Cornering Force. 1.4.2 Slip Angle and Aligning Torque. 1.4.3 Camber and Camber Thrust. 1.4.4 Characterization of Cornering Behavior of. Tires. 1.5 Performance of Tires on Wet Surfaces. 1.6 Ride Properties of Tires. References. Problems. 2. MECHANICS OF VEHICLE-TERRAIN INTERACTION--TERRAMECHANICS. 2.1 Distribution of Stresses in the Terrain Under Vehicular Loads. 2.2 Applications of the Theory of Plastic Equilibrium to the Mechanics of Vehicle--Terrain Interaction. 2.3 Empirical Methods for Predicting Off-Road Vehicle Performance. 2.3.1 Empirical Methods Based on the Cone Index. 2.3.2 Empirical Methods Based on the Mean Maximum Pressure. 2.4 Measurement and Characterization of Terrain Response. 2.4.1 Characterization of Pressure-Sinkage Relationship. 2.4.2 Characterization of the Response to Repetitive Loading. 2.4.3 Characterization of the Shear Stress-Shear Displacement Relationship. 2.5 A Simplified Method for Analysis of Tracked Vehicle Performance. 2.5.1 Motion Resistance of a Track. 2.5.2 Tractive Effort and Slip of a Track. 2.6 A Computer-Aided Method for Evaluating the Performance of Vehicles with Flexible Tracks. 2.6.1 Approach to the Prediction of Normal Pressure Distribution under a Track. 2.6.2 Approach to the Prediction of Shear Stress Distribution under a Track. 2.6.3 Prediction of Motion Resistance and Drawbar Pull as Functions of Track Slip. 2.6.4 Experimental Substantiation. 2.6.5 Applications to Parametric Analysis and Design Optimization. 2.7 A Computer-Aided Method for Evaluating the Performance of Vehicles with Long-Pitch Link Tracks. 2.7.1 Basic Approach. 2.7.2 Experimental Substantiation. 2.7.3 Applications to Parametric Analysis and Design Optimization. 2.8 Methods for Parametric Analysis of Wheeled Vehicle Performance. 2.8.1 Motion Resistance of a Rigid Wheel. 2.8.2 Motion Resistance of a Pneumatic Tire. 2.8.3 Tractive Effort and Slip of a Wheel. 2.9 A Computer-Aided Method for Evaluating the Performance of Off-Road Wheeled Vehicles. 2.9.1 Basic Approach. 2.9.2 Experimental Substantiation. 2.9.3 Applications to Parametric Analysis. 2.10 Finite Element and Discrete Element Methods for the Study of Vehicle-Terrain Interaction. 2.10.1 The Finite Element Method. 2.10.2 The Discrete (Distinct) Element Method. References. Problems. 3. PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES. 3.1 Equation of Motion and Maximum Tractive Effort. 3.2 Aerodynamic Forces and Moments. 3.3 Vehicle Power Plant and Transmission Characteristics. 3.3.1 Internal Combustion Engines. 3.3.2 Electric Drives. 3.3.3 Hybrid Drives. 3.3.4 Fuel Cells. 3.3.5 Transmission Characteristics. 3.4 Vehicle Power Plant and Transmission Characteristics. 3.4.1 Power Plant Characteristics. 3.4.2 Transmission Characteristics. 3.5 Prediction of Vehicle Performance. 3.5.1 Acceleration Time and Distance. 3.5.2 Gradability. 3.6 Operating Fuel Economy. 3.7 Engine and Transmission Matching. 3.8 Braking Performance. 3.8.1 Braking Characteristics of a Two-Axle. Vehicle. 3.8.2 Braking Efficiency and Stopping Distance. 3.8.3 Braking Characteristics of a Tractor-Semitrailer. 3.8.4 Antilock Brake Systems. 3.8.5 Traction Control Systems. References. Problems. 4. PERFORMANCE CHARACTERISTICS OF OFF-ROAD VEHICLES. 4.1 Drawbar Performance. 4.1.1 Drawbar Pull and Drawbar Power. 4.1.2 Tractive Efficiency. 4.1.3 Four Wheel Drive. 4.1.5 Coefficient of Traction. 4.1.4 Weight-to-Power Ratio for Off-Road Vehicles. 4.2 Fuel Economy of Cross-Country Operations. 4.3 Transport Productivity and Transport Efficiency. 4.4 Mobility Map and Mobility Profile. 4.5 Selection of Vehicle Configurations for Off-Road Operations. References. Problems. 5. HANDLING CHARACTERISTICS OF ROAD VEHICLES. 5.1 Steering Geometry. 5.2 Steady-State Handling Characteristics of a Two-Axle Vehicle. 5.2.1 Neutral Steer. 5.2.2 Understeer. 5.2.3 Oversteer. 5.3 Steady-State Response to Steering Input. 5.3.1 Yaw Velocity Response. 5.3.2 Lateral Acceleration Response. 5.3.3 Curvature Response. 5.4 Testing of Handling Characteristics. 5.4.1 Constant Radius Test. 5.4.2 Constant Speed Test. 5.4.3 Constant Steer Angle Test. 5.5 Transient Response Characteristics. 5.6 Directional Stability. 5.6.1 Criteria for Directional Stability. 5.6.2 Vehicle Stability Control. 5.7 Steady-State Handling Characteristics of a Tractor-Semitrailer. 5.8 Simulation Models for the Directional Behavior of Articulated Road Vehicles. References. Problems. 6. STEERING OF TRACKED VEHICLES. 6.1 Simplified Analysis of the Kinetics of Skid-Steering. 6.2 Kinematics of Skid-Steering. 6.3 Skid-Steering at High Speeds. 6.4 A General Theory for Skid-Steering on Firm Ground. 6.4.1 Shear Displacement on the Track-Ground Interface. 6.4.2 Kinetics in a Steady-State Turning Maneuver. 6.4.3 Experimental Substantiation. 6.4.4 Coefficient of Lateral Resistance. 6.5 Power Consumption of Skid-Steering. 6.6 Steering Mechanisms for Tracked Vehicles. 6.6.1 Clutch/Brake Steering System. 6.6.2 Controlled Differential Steering System. 6.6.3 Planetary Gear Steering System. 6.7 Articulated Steering. References. Problems. 7. VEHICLE RIDE CHARACTERISTICS. 7.1 Human Response to Vibration. 7.1.1 International Standard ISO 2631-1:1985. 7.1.2 International Standard ISO 2631-1:1997. 7.2 Vehicle Ride Models. 7.2.1 Two-Degree-of-Freedom Vehicle Model for Sprung and Unsprung Mass. 7.2.2 Numerical Methods for Determining the Response of a Quarter-Car Model to Irregular Surface Profile Excitation. 7.2.3 Two-Degree-of-Freedom Vehicle Model for Pitch and Bounce. 7.3 Introduction to Random Vibration. 7.3.1 Surface Elevation Profile as a Random Function. 7.3.2 Frequency Response Function. 7.3.3 Evaluation of Vehicle Vibration in Relation to the Ride Comfort Criterion. 7.4 Active and Semi-Active Suspensions. References. Problems. 8. INTRODUCTION TO AIR-CUSHION VEHICLES. 8.1 Air-Cushion Systems and Their Performance. 8.1.1 Plenum Chamber. 8.1.2 Peripheral Jet. 8.2 Resistance of Air-Cushion Vehicles. 8.3 Suspension Characteristics of Air-Cushion Systems. 8.3.1 Heave (or Bounce) Stiffness. 8.3.2 Roll Stiffness. 8.4 Directional Control of Air-Cushion Vehicles. References. Problems. Index.

2,930 citations


"Control of a semi-active suspension..." refers methods in this paper

  • ...HE suspension system in a vehicle has the objective of absorbing the road disturbances, while keeping the tires in contact with the road surface, [ 1 ]-[3]....

    [...]

Journal ArticleDOI
TL;DR: In this paper, a new method of modeling and solution of a large class of hysteretic systems (softening or hardening, narrow or wideband) under random excitation is proposed.
Abstract: Based on a Markov-vector formulation and a Galerkin solution procedure, a new method of modeling and solution of a large class of hysteretic systems (softening or hardening, narrow or wide-band) under random excitation is proposed. The excitation is modeled as a filtered Gaussian shot noise allowing one to take the nonstationarity and spectral content of the excitation into consideration. The solutions include time histories of joint density, moments of all order, and threshold crossing rate; for the stationary case, autocorrelation, spectral density, and first passage time probability are also obtained. Comparison of results of numerical example with Monte-Carlo solutions indicates that the proposed method is a powerful and efficient tool.

2,377 citations

Journal ArticleDOI
TL;DR: In this article, a model for controllable fluid dampers is proposed that can effectively portray the behavior of a typical magnetorheological (MR) damper and compared with experimental results for a prototype damper.
Abstract: Semiactive control devices have received significant attention in recent years because they offer the adaptability of active control devices without requiring the associated large power sources. Magnetorheological (MR) dampers are semiactive control devices that use MR fluids to produce controllable dampers. They potentially offer highly reliable operation and can be viewed as fail-safe in that they become passive dampers should the control hardware malfunction. To develop control algorithms that take full advantage of the unique features of the MR damper, models must be developed that can adequately characterize the damper's intrinsic nonlinear behavior. Following a review of several idealized mechanical models for controllable fluid dampers, a new model is proposed that can effectively portray the behavior of a typical MR damper. Comparison with experimental results for a prototype damper indicates that the model is accurate over a wide range of operating conditions and is adequate for control design an...

1,897 citations


"Control of a semi-active suspension..." refers background or methods in this paper

  • ...B. The Simplified Control-Oriented Suspension Model In Fig. 2, the Spencer model of the MR damper can be replaced by the Bouc-Wen model, reported in [ 5 ], which is a good approximation of the Spencer model, but with fewer elements, and therefore the semi-active suspension system is redefined as depicted in Fig. 3. The reduction has control purposes, because the obtained T-S model contains less xs...

    [...]

  • ...For a deeper analysis on the MR damper behavior, refer to [ 5 ]....

    [...]

  • ...The equations that govern an MR damper are reported in [ 5 ], which is probably the most accurate physical-based model of an MR damper....

    [...]

  • ...Considering the intelligent suspensions domain, the magnetorhelogical dampers, which are applied in semiactive suspensions, [4], are one of the most applied and explored options, due to their low power consumption and safety, [ 5 ]....

    [...]

BookDOI
01 Jan 1992

1,597 citations