A research of sliding mode control method with disturbance observer combining skyhook model for active suspension systems

Wu, Qing; Shangguan, Wen‐Bin; Zhao, Kegang

doi:10.1177/1077546319890747

Cited by 9 publications

(10 citation statements)

References 27 publications

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“…Based on the new lead-lag correction controller, this paper proposed a two zeros and three poles lead-lag correction controller as shown in equation (19). The main difference between H twoÀpoles and H threeÀpoles is in the high frequency band, the attenuation effect of the three-pole controller is more obvious.…”

Section: Stability Controller Designmentioning

confidence: 99%

“…The frequency-response method is popular primarily because it has the advantages of convenient operation, intuitive effect, and robustness. 15,16 Indeed, there are also many advanced control algorithms, such as sliding-mode control [17][18][19] and fuzzy control, 20,21 and these algorithms are demonstrated to be effective. However, the experiment results indicate that the chattering problem caused by the sliding mode control may increase the torque oscillation.…”

Section: Introductionmentioning

confidence: 99%

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Model-based feedforward control for suppressing torque oscillation of electric power steering system

Shangguan

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Oscillation suppression is essential for the stability design of electric power steering (EPS) systems. The stability controller module in EPS controller is the key to solve the stability control problem of EPS system. This paper proposes a new method of stability analysis and stability controller module design for EPS systems. Furthermore, the dynamic characteristics of the EPS system are analyzed, and two critical factors on the resulting EPS stability, that is, large assist and variable assist gain are investigated experimentally. The transfer function from steering torque to sensor torque is redefined. A new transfer function is proposed for measuring the effect of variable assist gain on system performance. Based on the above factors and transfer functions, constraints on the stability controller design are proposed. Then the optimal parameters in the controller are obtained by maximizing an objective function including phase margin, gain margin, and crossover frequency. It is concluded from simulations and bench tests that the proposed stability controller can significantly reduce the torque oscillation of the EPS system.

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Section: Stability Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Model-based feedforward control for suppressing torque oscillation of electric power steering system

Shangguan

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…This specific type of excitation consists of multiple frequency components, which is usually used to investigate the performance of suspension system. 1,17 Figure 4(a) and (b) shows the displacement of road excitation in time domain and frequency domain, respectively. It can be found that the excitation frequency is mainly in the 0–5 Hz frequency range.…”

Section: An Equivalent 2-dof Modelmentioning

confidence: 99%

“…The riding comfort and the maneuverability of vehicle are two important considerations in the design of suspension systems of modern cars. [1][2][3][4][5] The riding comfort is provided by isolating the car body from road, and the maneuverability is obtained by keeping the tireroad gripping. Since the stiffness and the damping in passive suspension systems are not adjustable, it is difficult to balance the conflict between the riding comfort and the maneuverability at various road excitation.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control of double-wishbone active suspension systems based on equivalent 2-degree-of-freedom model

Yin

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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As a critical component of transportation vehicles, active suspension systems (ASSs) have widely attracted attention for their outstanding capability of improving the riding comfort and the maneuverability. However, due to the effects of the suspension kinematic structure and the rubber elements containing bushings and top mount, the practical double-wishbone ASS cannot achieve the desired performance resulting from the control design based on a simple 2-degree-of-freedom (DOF) model. In this paper, a sliding mode control (SMC) based on an equivalent 2-DOF model is proposed to suppress the sprung mass vibration of a double-wishbone ASS, which is to improve the riding comfort of vehicle. The SMC for a double-wishbone ASS is designed in four steps. First, an equivalent 2-DOF model of a double-wishbone ASS, which considers suspension kinematic structure and rubber properties, is established. The parameter values of an equivalent 2-DOF model are identified by using least square method. Second, an SMC is designed for an equivalent 2-DOF model, and the effect of the parameter value of the 2-DOF model on the riding comfort is investigated by experimental results. Third, a control compensator for a double-wishbone ASS is developed by considering the suspension kinematic structure. Four, the control for double-wishbone ASS is obtained by integrating the compensator into the SMC based on the equivalent 2-DOF model. The numerical simulation results show that the control can effectively suppress the sprung mass vibration of the double-wishbone ASS when the SMC design is based on an equivalent 2-DOF model.

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“…In order to deal with system uncertainties, and to enhance the robustness of the system, they combined the sliding mode control (SMC) with backstepping controller. Owing to its robustness against uncertainties and its simple design, SMC has become very popular as a robust controller for uncertain systems [23][24][25][26][27][28]. The main goal of using an SMC is to control a system which is subjected to uncertainties and disturbances.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of a wheeled mobile robot in the presence of matched uncertainties via a composite control approach

Shafei

Bahrami

2020

Asian Journal of Control

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In the present work, a novel method is devised for controlling an uncertain wheeled mobile robot (WMR) in a desired path. To achieve this objective, an optimal and robust control system with adaptive gains is combined to benefit from the advantages of both methods. In fact, applying this controller not only controls a nonlinear system robustly against uncertainties and external disturbances, but also optimizes a quadratic cost function. Also, since the upper bound of uncertainty is determined by an adaptive law, it does not need to be adjusted manually. To ensure the designed controller's finite time stability, Lyapunov theory is used. Finally, to illustrate the effectiveness of the proposed control method, a case study involving a WMR is presented. By comparing the results of this approach with those of an adaptive sliding mode control (ASMC), it is shown that the proposed controller uses less control effort, relative to the ASMC controller, to stabilize the uncertain WMR in the presence of external disturbances.

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A research of sliding mode control method with disturbance observer combining skyhook model for active suspension systems

Cited by 9 publications

References 27 publications

Model-based feedforward control for suppressing torque oscillation of electric power steering system

Model-based feedforward control for suppressing torque oscillation of electric power steering system

Sliding mode control of double-wishbone active suspension systems based on equivalent 2-degree-of-freedom model

Trajectory tracking control of a wheeled mobile robot in the presence of matched uncertainties via a composite control approach

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