Enhanced nonlinear disturbance observer based sliding mode control design for a fully active suspension system
- PDF / 2,473,629 Bytes
- 14 Pages / 595.276 x 790.866 pts Page_size
- 45 Downloads / 222 Views
Enhanced nonlinear disturbance observer based sliding mode control design for a fully active suspension system L. Vidyaratan Meetei1 · Dushmanta Kumar Das1 Received: 9 June 2020 / Revised: 17 August 2020 / Accepted: 30 August 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract In this paper, a new adaptive sliding mode controller using an enhanced disturbance observer is proposed for active suspension. For acquiring the knowledge of the states, the use of sensors is avoided to reduce the designing cost. Instead of it, an ensemble Kalman filter is used for estimating the states. Chattering in the traditional sliding mode control method is minimized by introducing a continuous term in switching function. An enhanced nonlinear disturbance observer is designed to ensure the robustness of the proposed controller. Through rigorous analysis, the stability is proved using the Lyapunov method. To demonstrate the efficiency of the proposed controller, it is subjected to different road profiles in simulation and experimental setups. Keywords Active suspension system · Sliding mode control · Ensemble Kalman filter · Nonlinear disturbance observer
Abbreviations SMD Sprung mass displacement SMV
Sprung mass velocity
SMA
Sprung mass acceleration
UMD
Unsprung mass displacement
UMV
Unsprung mass velocity
RSD
Relative suspension deflection
RTD
Relative tyre force
SMC
Sliding mode control
ENKF Ensemble Kalman filter ENDO Enhanced nonlinear disturbance observer
1 Introduction A passenger while driving a car expects the following • a comfortable and jerk free drive on the uneven road surfaces (like bumps, pits, trough),
B 1
Dushmanta Kumar Das [email protected] Department of EEE, National Institute of Technology, Nagaland, India
• better road handling during turns at high speed and • minimal dive and squats during brakes and accelerations. The car suspension system plays a crucial role in fulfilling these expectations. Generally, the suspension system consists of a spring (to retain the car ground clearance height after motion) and a damper (to absorb the impact on the car body), which form as a linkage between the car-chassis and tires. This is the so-called passive suspension system. Due to the inherent limitation of the passive suspension [1,2] over the time, the suspension has been evolved to semi-active and fully-active suspension system (based on skyhook control [3]). The variable damper in the semi-active allows adaptive positive damping during spring contraction, but it is limited for negative damping during spring expansion. To overcome this limitation the fully-active suspension comes into action which provides the required positive and negative damping with the help of an external actuator attached to the suspension system. It also provides the other function like vibration and posture control, ground clearance height control, minimize the body roll, anti-dive, anti-squat, and steering control. Over last few decades, researchers across the globe are doing extensive resear
Data Loading...
