Modeling free Inversion based Iterative Feedforward Control of Magnetorheological Dampers

Abstract

In this paper, a damping force tracking control strategy of magnetorheological dampers with nonlinear and hysteresis characteristics is proposed, in which a modeling-free inversion-based iterative feedforward control (MIIFC) scheme is designed. The adopted MIIFC scheme utilizes only online input-output data of the controlled system, and achieves the desired performance by iterations. The property of disturbances or noises attenuation, i.e., convergence analysis is explicitly addressed accordingly. The validity of the adopted MIIFC scheme was verified by simulation experiments and hardware-in-the-loop tests on a seat suspension test rig installed with the magneto-rheological damper. The experimental results show that the desired damping force can be effectively tracked with the MIIFC scheme.