Application of Udwadia–Kalaba approach to semi-active suspension control of a heavy-duty truck

Huang, Kang; Xian, Yuanjie; Li, Chen-Ming; Qiu, Mingming

doi:10.1177/0954407019836836

Cited by 7 publications

(4 citation statements)

References 24 publications

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“…Traditional passive seat suspensions are very limited in terms of ride comfort and cannot meet the increasingly stringent comfort requirements. In recent years, the semiactive seat suspension system is becoming more and more popular due to simple structure, low power consumption, good vibration damping behavior, and high reliability [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Parameter Identification of MR Damper considering Excitation Characteristics and Current

Zhang

Shi

Chen

2021

Shock and Vibration

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Smart structures such as damping adjustable dampers made of magnetorheological (MR) fluid can be used to attenuate vibration transmission in vehicle seat suspension. The main research content of this paper is the nonlinearity and hysteresis characteristics of the MR damper. A hysteretic model considering both excitation characteristics and input current is proposed to fit the damper force-velocity curve for the MR damper under different conditions. Multifactor sensitivity analysis based on the neural network method is used to obtain importance parameters of the hyperbolic tangent model. In order to demonstrate the fitting precision of the different models, the shuffled frog-leaping algorithm (SFLA) is employed to identify the parameters of MR damper models. The research results indicate that the modified model can not only describe the nonlinear hysteretic behavior of the MR damper more accurately in fixed conditions, compared with the original model, but also meet the fitting precision under a wide range of magnitudes of control current and excitation conditions (frequency and amplitude). The method of parameter sensitivity analysis and identification can also be used to modify other nonlinear dynamic models.

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Section: Introductionmentioning

confidence: 99%

Modeling and Parameter Identification of MR Damper considering Excitation Characteristics and Current

Zhang

Shi

Chen

2021

Shock and Vibration

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“…The modeling process does not require any linearization and approximation, which greatly simplifies the computational process and control complexity. In recent years, many researchers have achieved significant scientific results through U-K theory [12][13][14][15][16]. Chen et al [17][18][19] realize the constraint tracking servo control of mechanical system based on U-K theory, and complete the optimal design of fuzzy mechanical system.…”

Section: Introductionmentioning

confidence: 99%

Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations

et al. 2022

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In this paper, trajectory tracking control is investigated for lower extremity rehabilitation exoskeleton robot. Unknown perturbations are considered in the system which are inevitable in the reality. The trajectory tracking control is constructively treated as constrained control issue. To obtain the explicit equation of motion and analytical solution of lower extremity rehabilitation exoskeleton robot, Udwadia-Kalaba theory is introduced. Lagrange multipliers and pseudo variables are not needed in Udwadia-Kalaba theory, which is more superior than Lagrange method. On the basic of Udwadia-Kalaba theory, two constrained control methods including trajectory stabilization control and adaptive robust control are proposed. Trajectory stabilization control applies Lyapunov stability theory to modify the desired trajectory constraint equations. A leakage-type of adaptive law is designed to compensate unknown perturbations in adaptive robust control. Finally, comparing with nominal control and control method in [32], simulation results demonstrate the superiority of trajectory stabilization control and adaptive robust control in trajectory tracking control.

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“…As the main means of freight transportation, scholars have done a lot of research to improve the performance of heavy vehicles, [1][2][3][4][5] especially the road damage 6,7 caused by heavy vehicles. In order to improve the ride comfort and road friendliness of heavy vehicles, Gong and Yan Mingde 8 proposed a new adaptive robust control strategy based on road level estimation for heavy rescue vehicles to improve ride comfort and handing stability.…”

Section: Introductionmentioning

confidence: 99%

Research on predictive coordinated control of ride comfort and road friendliness for heavy vehicle ISD suspension based on the hybrid-hook damping strategy

Yang

Shen

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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With the appearance of inerter, the ISD suspension composed of “Inerter-Spring-Damper” opens up a new direction for efficient coordination of ride comfort and road friendliness for heavy vehicles. In this paper, a reference model based on the hybrid-hook damping strategy is proposed, and the mechatronic inerter is used as an active suspension force generator in the actual controlled model. Then, the coordinated control of the vehicle ISD suspension model is realized by the model predictive control (MPC) approach. The test results show that, the RMS values of the body acceleration and dynamic tire load of the controllable ISD suspension is smaller than the traditional passive and passive ISD suspension under the sinusoidal road inputs. Under the random road input, compared with the traditional passive suspension, the controllable ISD suspension has improved the RMS value of the body acceleration by 26.61%, and the road damage coefficient has been improved by 20.13%. Experiments show that the controllable ISD suspension of heavy vehicles based on the hybrid-hook damping strategy has comprehensive improvement of vehicle ride comfort and road friendliness.

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Application of Udwadia–Kalaba approach to semi-active suspension control of a heavy-duty truck

Cited by 7 publications

References 24 publications

Modeling and Parameter Identification of MR Damper considering Excitation Characteristics and Current

Modeling and Parameter Identification of MR Damper considering Excitation Characteristics and Current

Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations

Research on predictive coordinated control of ride comfort and road friendliness for heavy vehicle ISD suspension based on the hybrid-hook damping strategy

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