A nonlinear parameter varying observer for real‐time damper force estimation of an automotive electro‐rheological suspension system

Abstract

This paper proposes a nonlinear parameter varying (NLPV) observer to estimate, in real-time, the damper force of an electrorheological (ER) damper in a road vehicle suspension system. The objectives are to minimize the effects of bounded unknown road profile disturbances and measurement noises on the estimation errors in the  ∞ framework. Furthermore, the nonlinearity coming from the damper model (and considered in the observer formulation) is handled through a Lipschitz condition. The observer inputs are data given by two low-cost sensors (two accelerometers data from the sprung mass and the unsprung mass). For performance assessment, the observer is implemented on a 1/5-scaled real vehicle testbench of GIPSA-lab, namely INOVE (see www.gipsa-lab.fr/projet/inove). Both simulation and experimental results demonstrate the effectiveness of the proposed observer in terms of the ability to estimate the damper force in real-time and to minimize the effects of measurement noises and road disturbances.

Unified Generalized H 2 Nonlinear Parameter Varying Observer: Application to Automotive Suspensions

“…• An ISO road profile of type C (see [3] for a figure) and then a bump road profile of 2 cm (occurring at 0.5 s); • A skyhook controller that gives the PWM signal;…”

“…Choosing the state x = (z s − z us , żs , z us − z r , żus , F er ) ⊤ , the measured output y as (z s , zus ) ⊤ (note that measuring accelerations has cost and mounting advantages over measuring deflections [3]) with measurement noise ω n , the input disturbance ω r = żr , and ρ…”

“…This research is funded by Funds for Science and Technology Development of the University of Danang under project number B2020-DN06- 21. research trend in the LPV community [2]. In the literature, the observers of this new class take various structures, from the classical form [3], the descriptor form [4], [5] to the two-DOF [6] or the generalized one [7], [8]. The main objective of this work is to extend the unified formulation of unknown input observers [9], [10] for NLPV systems.…”

Mixed Ionic–Electronic Covalent Organic Frameworks as a Platform for High-Performance Electro-Responsive Smart Materials

“…ER fluid is one of the most important electro-responsive smart materials, which can realize a liquid–solid transition rapidly and reversibly under electric fields. − This electrically tunable liquid–solid phase transition is also called ER effect, which has broad application prospects in shock absorbers, damping devices, precision polishing, microfluidics, and so on. − ER fluid usually consists of high-permittivity solid particles in low-permittivity insulating carrier liquid . The ER effect is strongly related to the interfacial polarization of the particles in the carrier liquid.…”

A Water-Free Ionic Covalent Organic Polymer with High Electrorheological Activity and Temperature Stability

“…Electrorheological (ER) fluid is a kind of colloid suspension whose rheological properties can be regulated by an external electric stimulus. − It is usually formed by the dielectric particles with weak leakage conductance dispersed in insulating oil and has broad application prospect in damping devices, shock absorbers, precision polishing, microfluidics, and so on. − Because of low settling in carrier liquid, relatively high ER effect, and no abrasiveness to devices, ionic polymer particles are important ER materials, whose ER effect arose from the interfacial polarization caused by ion movement. The first-generation ionic polymer ER material with classic polyelectrolyte particles as the active phase has been invented in 1980s .…”