Browse Topic: Active suspension systems

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Exploring capabilities of hydraulic actuators to achieve vehicle ride targets in frequency range beyond their operational bandwidth2024-26-006001/16/2024
Active suspension systems employ sophisticated control algorithms to deliver superior comfort in vehicles. However, the capabilities of these algorithms are limited by the physical constraints of actuators. Many vehicles use hydraulic actuators in their active suspension system, which use fluid movement to control suspension motion. These systems inherently have slower response times due to the nature of fluid flow and the time required to build up or release pressure within the hydraulic system. Typically, hydraulic systems operate in a low bandwidth of 0-5 Hz. This limits their capability to only meeting vehicle’s primary ride targets which typically lie below 5 Hz. Although, they can be tuned to operate at slightly higher frequency range (up to 10 Hz), they perform poorly in attenuating the secondary ride vibration, i.e., 5 – 25 Hz. This paper focuses on identifying and developing control strategies that can allow us to affect the vehicle ride well beyond the actuator bandwidth. The
Agrawal, Ayush, Negi, Ayush, Joshi, Divyanshu
Experimental Investigation on Genetic Algorithm optimized Proportional Integral Derivative Based Active Suspension System2025-01-001405/05/2023
In this work, Genetic Algorithm (GA) optimized Proportional Integral Derivative (PID) controller is employed. The PID gain values are optimally tuned based on the objective function formulated using the Integral Time Absolute Error (ITAE) criteria of various suspension measures like vehicle body displacement, suspension and tire deflections. The proposed GAPID controller is experimentally validated through the 3-DOF quarter-car test rig model. The fabricated model with passive suspension system (PASS) and active suspension system (ACSS) provided with an electrical actuator as base excitation is pictured. The schematic representation of the fabricated test set-up with and without ACSS is also illustrated. Further, simulation and experimental response of the fabricated model with and without ACSS are compared. It is identified that the proposed GAPID controller attenuates the sprung mass acceleration by about 41.64 % and 29.13 % compared with PASS for the theoretical as well as
A, Arivazhagan
Experimental Assessment of a Controlled Slippage Magnetorheological Automotive Active Suspension for Ride Comfort10-06-04-002408/23/2022
Active suspensions can alter the dynamic behavior of a vehicle in real time to respond optimally to any given operating scenario. Today’s active suspension technologies such as hydraulics, rotary electromagnetics, and linear electromagnetics do offer performance gains but these gains are outweighed by important disadvantages including high power consumption, low quality of force, and high costs and weights. Controlled slippage magnetorheological (MR) actuators are an emerging alternative actuation technology that is light, compact, power dense, and produces a high-quality force, making it ideal for active suspension applications. This article conducts an in-depth experimental assessment of the potential of MR actuators to increase vehicle ride comfort quality when used as active suspensions. Four high power MR actuators are installed on a BMW 330Ci and tests are performed on a closed road. Results show that with an impedance controller, comfort is increased by 67% at 65 km/h and by 61
Turcotte, Jérôme, East, William, Plante, Jean-Sébastien
Experimental Assessment of a Controlled Slippage Magnetorheological Automotive Active Suspension for Ride Comfort10-06-04-0024-TEST-REC08/23/2022
Active suspensions can alter the dynamic behavior of a vehicle in real time to respond optimally to any given operating scenario. Today’s active suspension technologies such as hydraulics, rotary electromagnetics, and linear electromagnetics do offer performance gains but these gains are outweighed by important disadvantages including high power consumption, low quality of force, and high costs and weights. Controlled slippage magnetorheological (MR) actuators are an emerging alternative actuation technology that is light, compact, power dense, and produces a high-quality force, making it ideal for active suspension applications. This article conducts an in-depth experimental assessment of the potential of MR actuators to increase vehicle ride comfort quality when used as active suspensions. Four high power MR actuators are installed on a BMW 330Ci and tests are performed on a closed road. Results show that with an impedance controller, comfort is increased by 67% at 65 km/h and by 61
Turcotte, Jérôme, East, William, Plante, Jean-Sébastien
A Review of Actuators for Automotive Electromagnetic Active Suspension2022-01-106503/29/2022
This review paper presents the state-of-the-art of actuators for automotive electromagnetic active suspension, specifically which have been applied on passenger cars recently or would have been applied on passenger cars in the coming years. The actuators are explored and compared in five aspects: system scheme, layout and structure, special components, function and performance, and improving potential. It provides an overview of two promising actuator configurations in consideration of industrial application. The electrohydraulic actuator could benefit compact design in suspension envelopment, and it seems to be an appropriate approach for active suspension system suppliers to put effort on. The electromechanical actuator benefits the potential of quick response and high efficiency, and it would be an approach worth OEMs to challenge.
Yin, Jun
On the Road Profile Estimation from Vehicle Dynamics Measurements2021-01-111508/31/2021
Ride comfort assessment is undoubtedly related to the interaction between the vehicle tires and the road surface. Indeed, the road profile represents the typical input for tire vertical load estimation in durability analysis and for active/semi-active suspension controller design. However, the road profile evaluation through direct experimental measurements involves long test time and excessive cost required by professional instrumentations to detect the road irregularities with sufficient accuracy. An alternative is shifting attention towards efficient and robust algorithms for indirect road profile evaluation. The object of this work aims at providing road profile estimation starting from vehicle dynamics measurements, through accessible and traditional sensors, with the application of a linear Kalman filter algorithm. The filter is designed and tuned by considering the pitch/bounce half-car models for the prediction phase and by measuring vertical accelerations and angular speeds
Vella, Angelo Domenico, Tota, Antonio, Vigliani, Alessandro
Enhancement of Occupant Ride Comfort by GA Optimized PID Control Active Suspension System2020-01-153206/03/2020
The main objective of this work is to enhance the occupant ride comfort. Ride comfort is quantified in terms of measuring distinct accelerations like sprung mass, seat and occupant head. For this theoretical evaluation, a 7- degrees of freedom (DOF) human-vehicle-road model was established and the system investigation was limited to vertical motion. Besides, this work also focused to guarantee other vehicle performance indices like suspension working space and tire deflection. A proportional-integral-derivative (PID) controller was introduced in the vehicle model and optimized with the aid of the genetic algorithm (GA). Actuator dynamics is incorporated into the system. The objective function for PID optimization was carried out using root mean square error (RMSE) concept. The severity of various suspension indices and biomechanics responses of the developed model under proposed approach were theoretically analyzed using various road profiles and compared with conventional passive
Anandan, Arivazhagan, K, Arunachalam
Hybrid Fuzzy-PID Control Development for a Truck Air Suspension System02-13-01-000405/11/2020
A hybrid fuzzy and proportional-integral-derivative (PID) controller is proposed for roll angle handling of a three-axle truck with an active air suspension system. The conventional truck suspension system has four air springs for the rear wheels and two leaf springs for the front wheels, which cannot properly control the pitch angle, and here in this study is upgraded into front air springs. Therefore in the full air suspension system, the pitch angle is controlled by the active suspension system. Roll reduction of a heavy vehicle can improve the ride comfort and rollover tendency of the truck, simultaneously. The relation of air spring pressures and vehicle dynamics is developed in a simple and accurate model. Using this comprehensive model, it is possible to control the variables of vehicle dynamics such as roll, pitch, and height of the truck. The truck air suspension system is examined in step steering, fishhook, and asymmetric rough road (types E and G power spectral density [PSD
Nazemian, Hossein, Masih-Tehrani, Masoud
Multi-Mode Controller Design for Active Seat Suspension with Energy-Harvesting2020-01-108304/14/2020
In this paper, a multi-mode active seat suspension with a single actuator is proposed and built. A one-DOF seat suspension system is modelled based on a quarter car model of commercial vehicle with an actuator which is comprised of a DC motor and a gear reducer. Aiming at improving ride comfort and reducing energy consumption, a multi-mode controller is established. According to the seat vertical acceleration and suspension dynamic travel signals, control strategies switch between three modes: active drive mode, energy harvesting mode and plug breaking mode. In active drive mode, the DC motor works in driving state and its output torque which calculated by LQR algorithm is controlled by a current-loop controller; In energy harvesting mode, the DC motor works in generator state by which induced current can charge the power source, in this mode, the DC motor is considered as a damper which damping coefficient is decided by the charging current and controlled by Skyhook algorithm; In plug
Zhang, Zhenrui, Zhang, Yunqing, Xu, Peijun
A Study on Sliding Mode Control for Active Suspension System2020-01-108404/14/2020
Sliding mode control with a disturbance observer (SMC-DO) is proposed for suppressing the sprung mass vibration in a quarter-car with double-wishbone active suspension system (ASS), which contains the geometry structure of the upper and lower control arms. The governing equations of double-wishbone ASS are obtained by the balance-force analysis of the sprung mass in ASS. Considering uncertainties in damping, stiffness, and external disturbance acting on the sprung mass, we design a disturbance observer based on a sliding mode control (SMC) to estimate these uncertainties under the unknown road excitation. By the Lyapunov minimax approach, the uniform boundedness and the uniform ultimate boundedness of ASS with the proposed control are rigorously proved. Through co-simulation of ADAMS software and MATLAB/Simulink software, the sprung mass acceleration of ASS can be obtained with and without the proposed control. The results show that ASS with the proposed control can yield better riding
Qin, Wu, Shangguan, Wen-Bin, Xu, Pu, Feng, Huayuan, Sun, Yi
Vibration Control of Semi-Active Vehicle Suspension System Incorporating MR Damper Using Fuzzy Self-Tuning PID Approach2020-01-108204/14/2020
In this paper, a nonlinear semi-active vehicle suspension system using MR fluid dampers is investigated to enhance ride comfort and vehicle stability. Fuzzy logic and fuzzy self-tuning PID control techniques are applied as system controllers to compute desired front and rear damping forces in conjunction with a Signum function method damper controller to assess force track-ability of system controllers. The suggested fuzzy self-tuning PID operates fuzzy system as a PID gains tuner to mitigate the vehicle vibration levels and achieve excellent performance related to ride comfort and vehicle stability. The equations of motion of four-degrees-of-freedom semi-active half-vehicle suspension system incorporating MR dampers are derived and simulated using Matlab/Simulink software. Control performance criteria including bounce and pitch motions are evaluated in both time and frequency domains in order to quantify the effectiveness of proposed system controllers under bump and random road
Gad, Ahmed Shehata, Oraby, W., Metered, H.
Second-Order Sliding Mode Controller for Performance Analysis of Quarter Car Magnetorheological Suspension System2020-01-100504/14/2020
To achieve the simultaneous improvement in ride comfort of the passenger as well as the stability of the vehicle, a second-order sliding mode controller is proposed in this study. Super twisting algorithm attenuates the chattering effect present in the conventional sliding mode controller without affecting the stability of the system. The Lyapunov stability analysis is carried out to verify the stability of the controller. The effectiveness of the designed super twisting algorithm used second-order sliding mode controller is validated in a semiactive quarter car suspension with seat model. Modified Bouc-wen magnetorheological (MR) damper model is used as a semiactive damper and the voltage that has to be supplied to the magnetorheological damper is controlled by a super twisting algorithm and sliding mode controller. Continuous modulation filtering algorithm is adopted to convert the force signal of a controller into the equivalent voltage input to the MR damper. The entire system is
Soosairaj, Arockia Suthan, K, Arunachalam
Behavioral Study on Passenger and Driver Dynamics Utilizing 14-DOF Half Car Active Suspension System2020-01-100604/14/2020
The main aim of the current research work is to investigate the behavior of passenger and driver biomechanics when the vehicle is excited under road irregularities. For this purpose, a 14-degrees of freedom (DOF) human-vehicle-road model was proposed. In addition to that, the ride comfort of the occupant with the aid of active suspension and its influence on other performance indices like suspension working space and road holding were also investigated. Besides sprung mass acceleration, the ride comfort was evaluated with pitching acceleration and occupant’s head acceleration representation. Active suspension based on Proportional Integral Derivative (PID) controller with hydraulic actuator was implemented. Then, the parameters of the PID controller are optimally tuned by adopting genetic algorithm (GA) with the assist of integral time absolute error (ITAE) method. The objective function was obtained by combining the ITAE of tire deflection, suspension deflection and sprung mass motion
Anandan, Arivazhagan, K, Arunachalam
Integrated Model Predictive Control and Adaptive Unscented Kalman Filter for Semi-Active Suspension System Based on Road Classification2020-01-099904/14/2020
The accuracy of state estimation and optimal control for controllable suspension system is a challenging task for the vehicle suspension system under various road excitations. How to effectively acquire suspension states and choose the reasonable control algorithm become a hot topic in both academia and industry. Uncertainty is unavoidable for the suspension system, e.g., varying sprung or unsprung mass, suspension damping force or spring stiffness. To tackle the above problems, a novel observer-based control approach, which combines adaptive unscented Kalman filter (AUKF) observer and model predictive control (MPC), is proposed in the paper. A quarter semi-active suspension nonlinear model and road profile model are first established. Secondly, using the road classification identification method based on system response, an AUKF algorithm is employed to estimate accurately the state of suspension system. Due to the nonlinear of semi-active suspension damping force in the movement
Wang, Zhenfeng, Xu, Shengjie, Li, Fei, Wang, Xinyu, Yang, Jiansen, Miao, Jing
Control Performance of Damping and Air Spring of Heavy Truck Air Suspension System with Optimal Fuzzy Control10-04-02-001302/28/2020
The air suspension system of heavy trucks not only improves the vehicle’s ride comfort but also reduces the negative impact on the road surface. In order to evaluate the performance of the control damping (CD) and the control air spring (CAS) of the vehicle air suspension system on the ride comfort and the road friendliness, a three-dimensional (3D) nonlinear dynamic model with 14 degrees of freedom (DOF) of the heavy trucks and optimal fuzzy control (OFC) with control rules optimized by the genetic algorithm (GA) are proposed in this study. The root mean square (RMS) acceleration response of the tractor and the dynamic load coefficient (DLC) at the wheel axles are chosen as objective functions under the various operating conditions. Contrastive analysis of the RMS and DLC values with the passive (P), CD, and CAS methods of the air suspension system is carried out respectively. The research result shows that both the CD and CAS methods remarkably improve the ride comfort and road
Nguyen, Vanliem, Jiao, Renqiang, Zhang, Jianrun
Crank-Lever Electromagnetic Damper (CLEMD) Design for Automobile Suspension System06-13-01-000202/04/2020
An effective damper is among the most important components of the suspension system. It ensures the right amount of damping force is acting on the suspension system to provide comfort to the passengers and proper road holding to tires. Unfortunately, the energy absorbed by the dampers from the suspension system gets wasted in the form of heat. In this article, it is proposed to use innovative electromagnetic damper (EMD) with a crank-lever mechanism to recover energy from the suspension system. The goal is to develop a lightweight design of EMD that can recover a high amount of power. For the design, an off-road vehicle is used since in off-road vehicles the amount of power wasted in the suspension system is high. Three different design approaches are used, which include single-stage gearbox type, two-stage gearbox type, and three-stage gearbox type of CLEMD. Out of them, the best design, i.e. three-stage gearbox type of CLEMD is selected because of minimum weight and inertia of the
Todmal, Prashant Eknath, Melzi, Stefano
A Study of the Control Logic of Electronically Controlled Suspension for Motorcycle2019-32-056901/24/2020
Electronically controlled suspensions are expected to improve driving performance as the damping characteristics of the suspension can be adjusted in real time to respond to road conditions. This paper reports the results of testing the suspension control logic for improving ride quality, especially when driving on rough roads, using an internally developed riding simulator. The skyhook theory is widely known as a control logic for reducing vibration when driving a four-wheeled vehicle on a rough road, which we utilized in our riding simulator to examine the vibration reduction effects when applying control logic for motorcycle suspensions. The test results show that the skyhook theory can be applied in motorcycles. However, sensors for suspension systems that can be installed in mass-produced motorcycles are severely limited in terms of cost and space. Therefore, we examined a control logic based on skyhook theory that can reduce vibration even with a simple and inexpensive sensor
Terada, Takenori, Ichikawa, Kazuhiro, Kato, Hideyuki, Iwamoto, Taro
Modelling and Simulation of Vehicle Suspension System with Variable Stiffness Using Quasi-Zero Stiffness Mechanism10-04-01-000312/02/2019
The dynamics and comfort of a vehicle closely depends on the stiffness of its suspension system. The suspension system of a vehicle always had to trade-off between comfort and performance of a vehicle; since for comfort a softer suspension is preferred which in turn decreases the aerodynamics and cornering performance and increases the ride height of the vehicle; whereas in stiffer suspension the ride height can be lowered, but forces due to bumps are transferred all the way up to the drivers cabin. This article aims to design a vehicle suspension model with variable stiffness using quasi-zero stiffness (QZS) mechanism and study its force-displacement characteristics and minimize the fundamental stiffness of the suspension system. The model developed uses the principle of negative stiffness to achieve low stiffness for the softer suspension system. The mechanism designed comprises of a pushrod suspension system with three parallel springs attached to one end of the rocker arm, one
Saini, Mohit
Minimizing Power Consumption of Fully Active Vehicle Suspension System Using Combined Multi-Objective Particle Swarm Optimization2019-01-507707/16/2019
This paper introduces an optimum design for a feedback controller of a fully active vehicle suspension system using the combined multi-objective particle swarm optimization (CMOPSO) in order to minimize the actuator power consumption while enhancing the ride comfort. The proposed CMOPSO algorithm aims to minimize both the vertical body acceleration and the actuator power consumption by searching about the optimum feedback controller gains. A mathematical model and the equations of motion of the quarter-car active suspension system are considered and simulated using Matlab/Simulink software. The proposed active suspension is compared with both active suspension system controlled using the linear quadratic regulator (LQR) and the passive suspension systems. Suspension performance is evaluated in time and frequency domains to verify the success of the proposed control technique. The simulated results reveal that the proposed controller using CMOPSO grants a significant enhancement of ride
Elsawaf, Ahmed, Metered, H., Abdelhamid, A.
Protecting high-voltage circuits19AUTP06_0706/01/2019
Yazaki readies a new solution for arc suppression in circuits of 48V or more. As OEMs develop their next-generation electrical architectures aimed at new hybrid, EV and autonomous vehicles, engineers are focused on delivering systems that are even more robust and “fail-safe” than those used today. Handling more power safely is a given, experts say, as more power-gobbling heated seats, electric turbos, active suspensions, lidars, on-board data processors and other safety sensors are added. “The industry is now undergoing a fundamental change in how much electrical power is being used,” observed Eric Varton, chief engineer of advance development for Yazaki North America Core Engineering. He noted that the typical 12V vehicle architecture launched in the early 1960s is only capable of deliveing around 2 kW power. In an autonomous vehicle, the autonomous Drive module alone could consume 2 kW.
Brooke, Lindsay
Research and Development of an Electromagnetic Actuated Active Suspension2019-01-085804/02/2019
Active suspension could achieve good ride comfort and road holding performance. Traditional active suspension which utilizes air actuator or hydraulic actuator features relatively slow response or high energy consumption. Utilizing Permanent Magnet Synchronous Motor (PMSM) as actuator, the Electromagnetic Actuated Active Suspension (EAAS) benefits quick response and energy harvesting from vibration at the same time. Benchmarked with luxury cars available on the market, design parameters and design boundary are determined. A mechanism includes push bar and bell crank is designed to transfer the rotary motion of PMSM into linear motion of suspension, or verse vice. A prototype of EAAS is built in compromise of limited budget and a test bench is designed and set up. Different from conventional quarter car model, the model of EAAS in this paper is investigated and the total inertial of PMSM, gearbox and suspension control arms are calculated and simplified as an equivalent mass. Also
Yin, Jun, He, Jiaxing, Luo, Jie, Chen, Xinbo, Wu, Lixin
A Study of Triple Skyhook Control for Semi-Active Suspension System2019-01-016804/02/2019
The research described in this paper focused on improving occupant ride comfort and road holding by suppressing sprung and unsprung vibration using a semi-active suspension system. It has been reported that occupants tend to perceive vertical vibrations in a frequency range between 4 and 8 Hz as uncomfortable (described below as the “mid-frequency range”). Previous research into semi-active suspension system has focused on reducing vibration in this mid-frequency range, as well as close to the sprung resonance frequency of between 1 and 2 Hz. Skyhook damper (SH) control is a typical ride comfort control used to damp vibration close to the sprung resonance frequency. However, since SH control is not capable of damping vibration in the mid-frequency range, the shock absorbers are configured with a lower damping factor. This helps to achieve a good balance between reducing vibration close to the sprung mass resonance and in the mid-frequency range. In contrast, it has the trade-off effect
Shimoya, Naoto, Katsuyama, Etsuo
Study and Analysis of the Behavior of a Seated Human Body in a Vehicle by the Influence of an Active Suspension System2019-01-040304/02/2019
The objective of this paper is to study the influence of a suspension system on the human body with the effect of the controller behavior. For this work, 2-Degree of Freedom (DoF) quarter car suspension system with 4 DoF seated human body is modeled. The mathematical equation is developed by using a lumped mass parameter method. Governing equations of motions are generated by Newton’s Law of motion. Random road profile is also considered for this study. MATLAB/SIMULINK software is used to simulate the system results and system analysis is limited to a Proportional Integral Derivative (PID) controller with hydraulic actuator. Seat to Head transmissibility ratio of the active suspension system is analyzed and compared with the passive suspension system. Finally, to illustrate the effectiveness of the proposed active system, simulated results are compared with ISO 2631 comfort curves. Therefore the result shows that the PID based active suspension system improves the ride comfort of the
Anandan, Arivazhagan, K, Arunachalam
Vibration Control of an Active Seat Suspension System Integrated Pregnant Woman Body Model2019-01-017204/02/2019
Proportional-integral-derivative (PID) controller is effective, popular and cost effective for a lot of scientific and engineering applications. In this paper, PID and fuzzy-self-tuning PID (FSTPID) controllers are applied to improve the performance of an active seat suspension system to enhance the pregnant woman comfort. The equations of motion of thirteen-degrees-of-freedom (13-DOF) active seat suspension system incorporating pregnant woman body model are derived and simulated. PID gains are tuned and estimated using genetic algorithm (GA) to formulate GA PID controller. In FSTPID, fuzzy logic technique is used to tune PID controller gains by selecting appropriate fuzzy rules using Matlab/Simulink software. Both controlled active seat suspension systems are compared with a passive seat suspension. Suspension performance is evaluated under bump and random road excitations in order to verify the success of the proposed controllers. Theoretical results reveal that the proposed
Ali, Shaimaa A., Metered, H., Bassiuny, A. M, Abdel-Ghany, AM
Attitude Control of the Vehicle with Six In-Wheel Drive and Adaptive Hydro Pneumatic Suspensions2019-01-045604/02/2019
The ability of actively adjusting attitude provides a great advantage for those vehicles used in special environments such as off-road environment with extreme terrains and obstacles. It can improve vehicles’ stability and performance. This paper proposes an attitude control system for realizing the active attitude adjustment and vehicle motion control in the same time. The study is based on a vehicle with six wheel independent drive and six independent suspensions (6WIDIS), which is a kind of unmanned vehicle with six in-wheel drives and six independent hydro pneumatic suspensions. With the hydro- pneumatic suspensions, the vehicle’s attitude can be actively adjusted. This paper develops a centralized- distributed control strategy with attitude information obtained by multi-sensor fusion, which can coordinate the complex relationship among the six wheels and suspensions. The attitude control system consists of three parts. The first part is the attitude determination that includes
Li, Boxin, Zheng, Gangtie, Wang, Zhaokui
Model Reference Control for Active Suspension System2019-01-016504/02/2019
The objective of this study is to develop a Model Reference Control (MRC) strategy for active suspension System. The MRC strategy employs both the suspension look-ahead preview and wheelbase preview concepts, and the methodology of the MRC based on the ideal hybrid skyhook-groundhook concept. The study performed using a 13 degree-of-freedom (DoF) vehicle vertical dynamics model including the active suspension actuators masses. The engine mass, driver seat and anti-roll bar are considered in the model. The MRC strategy uses eight Proportional-Integral-Derivative (PID) controllers for both body and wheel control. A gradient-based optimization algorithm is applied to obtain the controller parameters using a cost function including both ride comfort and road holding performance. Comparison between the active suspension system provided with proposed MRC strategy, the ideal hybrid skyhook-groundhook suspension system, and the passive suspension system in terms of ride comfort and road
Kaldas, Mina M.S., Soliman, Aref M.A., Abdallah, Sayed A., Amien, Fomel F.
A Novel Three Steps Composited Parameter Matching Method of an Electromagnetic Regenerative Suspension System2019-01-017304/02/2019
The electromagnetic regenerative suspension has attracted much attention recently due to its potential to improve ride comfort and handling stability, at the same time recover kinetic energy which is typically dissipated in traditional shock absorbers. The key components of a ball-screw regenerative suspension system are a motor, a ball screw and a nut. For this kind of regenerative suspension, its damping character is determined by the motor's torque-speed capacity, which is different from the damping character of the traditional shock absorber. Therefore, it is necessary to establish a systematic approach for the parameter matching of ball-screw regenerative suspension, so that the damping character provided by it can ensure ride comfort and handling stability. In this paper, a 2-DOF quarter vehicle simulation model with regenerative suspension is constructed. The effects of the inertia force on ride comfort and handling stability are analyzed. A novel three steps composited matching
Cui, Dandan, Yongchang, Du
Application of a Preview Control with an MR Damper Model Using Genetic Algorithm in Semi-Active Automobile Suspension2019-01-500602/05/2019
A non-linear mathematical model of a semi-active (2DOF) vehicle suspension using a magnetorheological (MR) damper with information concerning the road profile ahead of the vehicle is proposed in this paper. The semi-active vibration control system using an MR damper consists of two nested controllers: a system controller and a damper controller. The fuzzy logic technique is used to design the system controller based on both the dynamic responses of the suspension and the Padé approximation algorithm method of a preview control to evaluate the desired damping force. In addition, look-ahead preview of the excitations resulting from road irregularities is used to quickly mitigate the effect of the control system time delay on the damper response. Adaptive neuro-fuzzy inference system (ANFIS) inverse model without preview, ANFIS inverse model with preview, and ANFIS inverse model with preview and optimization strategies are used to design the damper controller to evaluate different values
Shehata Gad, Ahmed, El-Zoghby, Helmy, Oraby, Walid, Mohamed El-Demerdash, Samir
Improving Vehicle Rollover Resistance Using Fuzzy PID Controller of Active Anti-Roll Bar System06-12-01-000312/20/2018
The active anti-roll bar (AARB) system in vehicles has recently become one of the research hotspots in the field of vehicle technology to improve the vehicle’s active safety. In most off-road vehicles, high ground clearance is required while keeping all wheels in contact with the ground in order to improve traction and maintain load distribution among the wheels. A problem however arises in some types of the off-road vehicles when the vehicle is operated at high speeds on smooth roads. In such condition, the combination of the vehicle’s center of gravity position, large suspension stroke, and soft spring construction creates a stability problem, which could make the vehicle liable to rollover. This article analyzes a comparison of stability performance between passive and active anti-roll bar systems to improve rolling resistance. For active systems, two control strategies will be investigated. The conventional Proportional Integral Derivative (PID) controller is firstly investigated
Khalil, Mohamed Mostafa, Atia, Mostafa R.A.
Influence of Intelligent Active Suspension System Controller Design Techniques on Vehicle Braking Characteristics10-03-01-000312/04/2018
This article presents a comprehensive investigation for the interaction between vehicle ride vibration control and braking control using two degrees of freedom (2DOF) quarter vehicle model. A typical limited bandwidth active suspension system with nonlinear spring and damping characteristics of practical hydraulic and pneumatic components is controlled to regulate both suspension and tire forces and therefore provide the optimum ride comfort and braking performance of an anti-lock braking system (ABS). In order to design a suitable controller for this nonlinear integrated system, various control techniques are followed including state feedback tuned using Linear Quadratic Regulator (LQR), state feedback tuned using Genetic Algorithm (GA), Proportional Integral (PI) tuned genetically, and Fuzzy Logic Control (FLC). The ABS control system is designed to limit skid ratio below threshold of 15%. Several simulations are carried out in MATLAB environment to assess the benefits of the
Onsy, Ahmed Mahmoud, Sharaf, Alhossein Mostafa, Ashrey, Mahmoud Mohamed, Eldemerdash, Samir Mohamed
PSO-Fuzzy Gain Scheduling of PID Controllers for a Nonlinear Half-Vehicle Suspension System06-12-01-000111/19/2018
The present article addresses the gain scheduling of proportional-integral-differential (PID) controllers using fuzzy set theory coupled with a metaheuristic optimization technique to control the vehicle nonlinear suspension system. The nonlinearities of the vehicle suspension system are due to the asymmetric piecewise dampers, quadratic tire stiffness, and the cubical spring stiffness. Conventional PID controller suffers from the low performance subject to modeling nonlinearities, while fuzzy logic controller (FLC), as a universal approximator, has the capacity to deal with the nonlinear, stochastic, and complex models. However, finding the optimal Mamdani FLC rules is still a challenging task in addition to a proper architecture of the membership functions (MFs). As a remedy to this drawback, particle swarm optimization (PSO) technique is employed in this article to improve the efficiency of the FLC-based PID controllers. The proposed nonlinear controller is suggestive of the
Taghavifar, Hamid, Li, Bin
Development of semi-active suspension for Formula SAE vehicle2018-36-022409/03/2018
The design of passive suspension systems is being improved since the early days of the automotive industry in order to obtain the best tradeoff between ride comfort and handling. In this context, passenger cars tend to prioritise ride comfort whilst racing cars tend to focus on handling. On the other hand, Formula SAE is a series of undergraduate competitions in which the students design, build and compete with small, formula-style, mono-seated vehicles. As part of the competition events, the vehicle experiences tight corners and short-length slaloms. The minimum turning diameter and the shortest length of slalom period conducted by Formula SAE prototypes are 9 m and 7.6 m, respectively. Therefore, high controllability of vehicle dynamic behaviour is required in order to enhance the cornering speed, this is achievable by working on the dampers to optimise the rates of load transfer in cornering. This paper describes the development of semiactive control algorithms to optimise the
dos Santos, Marcos Gabriel Diodato, Chrysakis, Georgios, Willmersdorf, Ramiro Britto, Alves, Luiz Otávio Ferrão Teixeira
Hydro-Pneumatic Energy Harvesting Suspension System Using a PSO Based PID Controller02-11-04-001808/01/2018
In this article, a unique design for Hydro-Pneumatic Energy Harvesting Suspension HPEHS system is introduced. The design includes a hydraulic rectifier to maintain one-way flow direction in order to obtain maximum power generation from the vertical oscillation of the suspension system and achieve handling and comfort car drive. A mathematical model is presented to study the system dynamics and non-linear effects for HPEHS system. A simulation model is created by using Advanced Modeling Environment Simulations software (AMESim) to analyze system performance. Furthermore, a co-simulation platform model is developed using Matlab-Simulink and AMESim to optimize the PID controller parameters of the external variable load resistor applied on the generator by using Particle Swarm Optimization (PSO). The results showed that the proposed design and PID-PSO controller was effective and practical for the regenerative suspension system since the maximum amplitude of vibration and settling time of
Sokar, Mohamed Ibrahim, Abdrabbo, Saber M.
Active Suspension: Future Lessons from The Past10-02-02-001006/18/2018
Active suspension was a topic of great research interest near the end of last century. Ultimately broad bandwidth active systems were found to be too expensive in terms of both energy and financial cost. This past work, developing the ultimate vehicle suspension, has relevance for today’s vehicle designers working on more efficient and effective suspension systems for practical vehicles. From a control theorist’s perspective, it provides an interesting case study in the use of “practical” knowledge to allow “better” performance than predicted by theoretically optimal linear controllers. A brief history of active suspension will be introduced. Peter Wright, David Williams, and others at Lotus developed their Lotus modal control concept. In a parallel effort, Dean Karnopp presented the notion of inertial (Skyhook) damping. These concepts will be compared, the combination of these two distinctly different efforts will be discussed, and eventual vehicle results presented. Most of the
Williams, Daniel Eugene
Study on Fuzzy Control of MR into Semi - Active Suspension2018-01-056104/03/2018
Suspension has a great influence on vehicle ride comfort and handling stability. How to improve the suspension performance has received more and more attention. To improve vehicle ride comfort, the magnetorheological damper (MRD) semi-active suspension is studied in this paper. Firstly, the dynamic calibration experiment of MRD was carried out so that the mechanical property curves was obtained. According to the experimental results, the Bouc-Wen model of MRD was identified and validated by Simulink Design Optimization. Secondly, The 1/4 of the vehicle vibration model can construct and calculate the vibration differential equations. The suspension of the simulation model can be constructed by the use of Matlab/Simulink software. Based on the established model, we can do an in-depth research on the active suspension control strategies under different road conditions and make related control strategies use the transfer function method. Then, taking the strong nonlinear of MRD itself into
Long, Haiyang
Control Research of Nonlinear Vehicle Suspension System Based on Road Estimation2018-01-055304/03/2018
The control parameter of the semi-active suspension system varies with road profile; therefore, in this study a new algorithm based on cuckoo search (CS) optimization method and road estimation was proposed to investigate the characteristics of the nonlinear parameters and at the same time improve the riding comfort. Based on this, a seven degree of freedom full vehicle model was developed with nonlinear damper and spring. The sprung mass acceleration, pitch acceleration, and tire deflection could be selected as the objective functions, and the control current of semi active suspension was selected as optimization variable. A multi-object CS algorithm was utilized to obtain the optimal parameters under different road profiles, and a road estimation algorithm was used to identify the road level. Then the control parameters could be adjusted adaptively according to the level of the road. Furthermore, computer simulations were carried out to illustrate the performance of the proposed
Sun, Jinwei, Dong, Mingming, Qin, Yechen, Gu, Liang
Simulation Research of a Hydraulic Interconnected Suspension Based on a Hydraulic Energy Regenerative Shock Absorber2018-01-058204/03/2018
The current paper proposes a hydraulic interconnected suspension system (HIS) based on a hydraulic energy-regenerative shock absorber (HESA) comparatively with the passive suspensions. The structure and working principles of the HIS system are introduced in order to investigate the damping performance and energy regeneration characteristics of the proposed system. Then, the dynamic characteristics of the HIS-HESA system have been investigated based on a 4-DOF longitudinal half vehicle model. In the simulation, two different road inputs were used in the dynamic characterization of the HIS-HESA; the warp sinusoidal excitation, and the random road signal. In addition, a comparative analysis was provided for the dynamic responses of the half vehicle model for both the HIS-HESA and the conventional suspension. Furthermore, a parametric analysis of the HIS-HESA has been carried out highlining the key parameters that have a remarkable effect on the HIS-HESA performance. The dynamic
Zou, Junyi, Guo, Xuexun, Xu, Lin, Abdelkareem, Mohamed A. A., Gong, Bian, Zhang, Jie, Tan, Gangfeng
Suspension Systems: Some New Analytical Formulas for Describing the Dynamic Behavior2018-01-055404/03/2018
The paper presents some new and unreferenced analytical formulae describing the dynamic behaviour of the suspension system of road or off-road vehicles. The quarter car model (2 degrees of freedom) is considered, the suspension can be either passive or active. Passive suspensions can be simplified as the spring-damper combination or the spring-damper combination with an additional in series spring (representing, e.g., the rubber bushing at the top of a McPherson strut or the rubber bushing at the end joints of the damper). The mathematical system is linear and the excitation is given by a random stationary and ergodic process. The standard deviations in analytical form are given referring to, respectively, the vehicle body acceleration, the relative displacement between sprung and unsprung mass, and the force at the ground. The so called invariant points of the frequency response functions are derived for both active and passive suspension. Unreferenced sub-invariant points are derived
Mastinu, Giampiero, Gobbi, Massimiliano, Yang, Liunan, Ramakrishnan, Kesavan, Ballo, Federico
Active Suspension Control of Electric Vehicle Driven by Switched Reluctance Motor Based on Vibration Absorbing Structure2018-01-140104/03/2018
Active suspension control for in-wheel switched reluctance motor (SRM) driven electric vehicle with dynamic vibration absorber (DVA) based on robust H∞ control method is presented. The mounting of the electric drives on the wheels, known as in-wheel motor (IWM), results in an increase in the unsprung mass of the vehicle and a significant drop in the suspension ride performance and road holding stability. Structures with suspended shaftless direct drive motors have the potential to improve the road holding capability and ride performance. The quarter car active suspension model equipped with in-wheel SRM is established, in which the SRM stator serves as a dynamic vibration absorber. The in-wheel SRM is modelled using an analytical Fourier fitting method. The SRM airgap eccentricity is influenced by the road excitation and becomes time-varying such that a residual unbalanced radial force is induced. This is one of the major causes of SRM vibration. Current chopping control (CCC) and
Shao, Xinxin, Naghdy, Fazel, Du, Haiping
Vibration Control of Active Vehicle Suspension System Using Optimized Fuzzy-PID2018-01-140204/03/2018
In this paper, a fuzzy-PID controller is applied in a half vehicle active suspension system to enhance vibration levels of vehicle chassis and passenger seat. The fuzzy-PID controller consists of fuzzy and PID connecting in a series manner, the fuzzy output is considered as the PID input. Genetic Algorithm (GA) is selected to tune controller parameters to obtain optimal values that minimize the objective function. The equations of motion of five-degrees-of-freedom active half-vehicle suspension system are derived and simulated using Matlab/Simulink software. Double bumps and random road excitations are used to study the performance of suspension systems including bounce and pitch motion. The performance of the active suspension system using optimized fuzzy-PID controller is compared with conventional passive to show the efficiency of the proposed active suspension system. The simulation results prove that the active suspension system controlled using the optimized fuzzy-PID controller
El-taweel, H., Abd elhafiz, Mohamed M., Metered, H.
Optimal Anti-vibration Design of Vehicle-mounted Vibration Isolation Platform2018-01-140004/03/2018
A vehicle-mounted anti-vibration system is designed to semi-actively reduce accelerations acting on vibration isolation platform under different road conditions. To provide the basis for optimal anti-vibration design, the kinematics and dynamics of the platform are analyzed to investigate the relationship between leg length, strength, the platform position and vibration properties. As the platform is fixed on vehicle, a combined vehicle-platform model is necessary for verifying the performance and applying some suitable control algorithms. Also, typical digital testing roads will be built using road load spectrum. To optimize the platform parameters, especially stiffness and damping, an active control system is designed at first. An anti-vibration system including a semi-active inerter is designed to match the control forces which are calculated from the above active system. Finally, optimal anti-vibration system of the vehicle mounted platform which also considers the vehicle
Wu, Liang, Li, Jinhang, Ma, Fangwu (Mike), Yang, Longfan
On Enhanced Fuzzy Sliding-Mode Controller and Its Chattering Suppression for Vehicle Semi-Active Suspension System2018-01-140304/03/2018
This paper aims to present an enhanced fuzzy sliding-mode control scheme with variable rate reaching law for semi-active vehicle suspension systems, which can reduce chattering phenomena in high frequency compared with the sliding-mode controller with traditional exponent reaching law. First, an ideal-skyhook damping suspension system is taken as reference model; then the new control law is synthesized by employing the fuzzy logic control while considering the sliding-mode reaching segment characteristics, which can dynamically change the reaching rate to suppress chattering in closed-loop control systems; finally, simulation analysis is conducted under both random road and bump road surface, the results verified the effectiveness and feasibility of the proposed control scheme.
Pang, Hui, Yang, Junjie, Liang, Jun, Xu, Zeren
Dynamic Characteristics Analysis of an Ambulance with Hydraulically Interconnected Suspension System2018-01-081504/03/2018
The vibration and instability experienced in an ambulance can lead to secondary injury to a patient and discourage a paramedic from emergency care. This paper presents a hydraulically interconnected suspension (HIS) system which can achieve enhanced cooperative control of roll, pitch and bounce motion modes to improve the ambulance's ride comfort and handling performance. A lumped-mass model integrated with a mechanical and hydraulic coupled system is developed by using free-body diagram and transfer matrix methods. The mechanical-fluid boundary condition in the double-acting cylinders is modelled as an external force on the mechanical system and a moving boundary on the fluid system. A special modal analysis method is employed to reveal the vibration characteristics of the ambulance with the HIS. A series of frequency analyses, including free vibration with identified eigenvalues and eigenvectors, vibration transmissibility and force vibration with stochastic road inputs, are
Tan, Bohuan, Wu, Yang, Zhang, Nong, Zhang, Bangji, Zheng, Minyi, Qi, Hengmin
Optimized Proportional Integral Derivative Controller of Vehicle Active Suspension System Using Genetic Algorithm2018-01-139904/03/2018
Proportional integral derivative (PID) control method is an effective, easy in implementation and famous control technique applied in several engineering systems. Also, Genetic Algorithm (GA) is a suitable approach for optimum searching problems in science, industrial and engineering applications. This paper presents the usage of GA for determining the optimal PID controller gains and their implementation in the active quarter-vehicle suspension system to achieve good ride comfort and vehicle stability levels. The GA is applied to solve a combined multi-objective (CMO) problem to tune PID controller gains of vehicle active suspension system for the first time. The active vehicle suspension system is modeled mathematically as a two degree-of-freedom mechanical system and simulated using Matlab/Simulink software. The performance of the proposed suspension system controlled using the optimized PID GA is compared to both controlled system using the classical PID (C PID) controller and the
Metered, H., Abbas, W., Emam, A. S.
Computational Simulation of Vertical Dynamics for an Off-Road Vehicle by Using Multibody Models2017-36-044111/07/2017
In the last decades, the improvement of the automotive industry and the raising market exigence have stimulated studies in vehicle dynamics. That studies force the companies to focus their efforts in producing new conceptions and optimizing the existing ones, being able to obtain faster, safer, and more comfortable vehicles. The evolution of computing has made the task of making numerical simulations for complex models of vehicles. This allow the engineers to reproduce the real dynamic behavior of the vehicle submitted to a wide range of scenarios. Therefore, this study aims to use the multibody method to model and simulate, through computers, the vertical dynamic behavior of an off-road vehicle (baja) with a Double Wishbone suspension in both front and rear. In order to do this task, experimental data of the suspension parameters were analyzed, and associated with the vertical dynamics studies, they worked as a basis for the input for the mathematical models of the entire car used in
Silva Diniz, Diego David, De Carvalho, Carlos Costa, Silva, Antônio Almeida da
Automotive Engineering: August 201717AUTP0808/03/2017
Hacked! Is automotive ready for the inevitable? Cybersecurity experts talk defense strategies. Active Aero takes flight Reconfigurable "smart" aerodynamic aids are stretching performance-car envelopes in every direction. The motorcycle's balanced future With its Ride Assist technology, Honda R&D moves two-wheelers toward autonomous capability. Honoring lightweight innovation Chrysler, Toyota, Faurecia and AP&T recognized with the 2017 Altair Enlighten Award for their efforts to reduce vehicle weight. Editorial: Stoking the creative, innovative engineer SAE Standards News SAE gains Special Consultative Status with the United Nations Supplier Eye Non-hybrid ICEs begin their decline The Navigator Printer patent ruling could impact automated-vehicle sales Audi has trick active suspension for new A8 Delphi and Tula show NVH benefits from Dynamic Skip Fire Mahle tests for 'mega knock' in downsized boosted engines 2018 Honda Accord drops mass, adds turbos and 10-speed automatic Alfa Romeo
Basic Characteristics of Adaptive Suspensions of Vehicles with New Principle of Operation2017-01-040403/28/2017
Currently, a group of scientists consisting of six doctors of technical sciences, professors of South Ural State University (Chelyabinsk, Russia) has completed a cycle of scientific research for creation of adaptive suspensions of vehicles. We have developed design solutions of the suspensions. These solutions allow us to adjust the performance of the suspensions directly during movement of a vehicle, depending on road conditions - either in automatic mode or in manual mode. We have developed, researched, designed, manufactured, and tested experimentally the following main components of the adaptive suspensions of vehicles: 1) blocked adaptive dampers and 2) elastic elements with nonlinear characteristic and with improved performance. Applications of our developed designs are as follows: suspensions of almost all vehicles (trucks, cars, buses and so on), except "waterfowl", and high-speed tracked vehicles, including special purpose and trailers, aircraft for various purposes, rail
Dubrovskiy, Anatoliy, Aliukov, Sergei, Dubrovskiy, Sergei, Alyukov, Alexander
State Estimation Based on Interacting Multiple Mode Kalman Filter for Vehicle Suspension System2017-01-148003/28/2017
The study of controllable suspension properties special in the characteristics of improving ride comfort and road handling is a challenging task for vehicle industry. Currently, since most suspension control requires the observation of unmeasurable state, how to accurately acquire the state of a suspension system attracts more attention. To solve this problem, a novel approach interacting multiple mode Kalman Filter (IMMKF) is proposed in this paper. Suspension system parameters are crucial for the performance of state observers. Uncertain suspension system parameters in various conditions, e.g. due to additional load, have significant effect on state estimation. Simultaneously, state transition among different models may be happened on the condition of varying system parameters. Hence, the interacting multiple mode Kalman Filter (IMMKF) observer is designed by employing the Kalman filter (KF) theory based on the interacting multiple mode (IMM) representation of the augmented
Wang, Zhenfeng, Dong, Mingming, Qin, Yechen, Zhao, Feng, Gu, Liang
Suspension Performance and Energy Harvesting Property Study of a Novel Railway Vehicle Bogie with The Hydraulic-Electromagnetic Energy-Regenerative Shock Absorber2017-01-148303/28/2017
Systematic research on dynamic model, simulation analyses, prototype production and bench tests have been carried out in recent years on the most popular energy-harvesting shock absorbers-the mechanical motion rectifier (MMR), and the hydraulic-electromagnetic energy-regenerative shock absorber (HESA). This paper presents a novel application of the HESA into bogie system of railway vehicles. In order to study the differences of suspension performance and energy harvesting property between first suspension system and second suspension system of the application, simulation models are built in AMESim to make comparison studies on the different department suspensions caused by the nonlinear damping behaviors of the HESA. The simulation results show that the system can effectively reduce the impact between wheel and rail tracks, while maintaining good potential to recycle vibratory energy. And the relationships as well as differences between the first suspensions and second suspensions have
Mi, Jia, Xu, Lin, Guo, Sijing, Abdelkareem, Mohamed A. A., Meng, Lingshuai
Method for Controlling Wheel End Loading through Pothole Event Using Continuously Variable Dampers2017-01-148703/28/2017
A semi-active suspension system is designed to improve secondary ride by lowering damping levels while maintaining or enhancing primary ride control and vehicle handling. In order to provide optimized ride comfort, base damping levels are reduced. Reduced damping levels increase damaging loads through pothole events. The Road Load Mitigation (RLM) algorithm seeks to resolve the tradeoff of high damping levels required to control the vertical and horizontal spindle loads and the need for lower damping forces to improve secondary ride. As the base active damping forces are increased to control these loads, ride benefits or vehicle ride comfort is diminished. RLM looks at suspension velocity at all four corners independently to determine if a pothole signature is detected and requires compensation. Compensation is delivered quickly to reduce wheel drop into the pothole thereby reducing damaging loads. When detection occurs on the front axle, rear axle damping levels are increased just
Norton, Russ, Bulat, Ben, Mohamed, Ahmed
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