Simulation study on ride comfort enhancement for a heavy duty vehicle with fractional order sliding mode controller
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Simulation study on ride comfort enhancement for a heavy duty vehicle with fractional order sliding mode controller T. Yuvapriya1 · P. Lakshmi1 Received: 30 December 2019 / Accepted: 27 July 2020 © Springer Nature Switzerland AG 2020
Abstract The main goal of vehicle active suspension system is to upgrade the ride quality and stability of heavy duty vehicle (HDV) regardless of road surface. The mathematical modelling of HDV with two degrees of freedom is developed and simulated in MATLAB/Simulink environment. The simple and effective control techniques such as proportional integral and derivative (PID) controller, sliding mode controller (SMC) and fractional order sliding mode controller (FOSMC) are designed to detach the vibration from the passenger under step, sinusoidal and random road profile. Literature reveals that the FOSMC can eliminate steady state error and chattering effect unlike SMC and PID. The dynamic analysis of designed controllers is examined in terms of time domain, frequency domain and ride comfort analysis as per ISO 2631. The stability of SMC and FOSMC is confirmed by Lyapunouv stability for three different road profiles. The FOSMC shows satisfactory simulation results than SMC, PID and passive suspension system in reducing suspension deflection and body acceleration of HDV to upgrade the ride quality. Further, the efficacy of proposed FOSMC is proved by comparing the simulation results against existing results of PID controller. Keywords FOSMC · HDV · Ride comfort analysis · Stability · VASS
1 Introduction In the transportation field, tractor trailers, trucks, heavy trucks, trailer trucks and military trucks are predominantly used as heavy duty vehicles (HDVs). The continuous rise in vehicle loads and road traffic, there is a damage of vehicle parts. The passenger safety and ride comfort are greatly affected by vibration of the vehicle. In the earlier days, Passive Suspension System (PSS) is used and it does not provide travel comfort and safety for the passenger due to fixed values of spring and damper. The complications raised from PSS are moderately dealt with Semi ASS using variable damper. Hence the automotive industry introduces Active Suspension System (ASS) to enhance the ride comfort and suppresses the vehicle vibration by the actuator force. The front suspension in the midi bus reduces the
intensity of rollover and improves the stability of the vehicle [1]. In mining vehicles, ride comfort can be achieved with hydraulic interconnected suspension system which provides soft bounce and decreases the pitch motion [2]. The electro hydraulic damper is utilised to improve the handling performance of heavy trucks [3]. Further, the off road vehicle dynamics are studied to forecast the vibration of the vehicle [4]. For better safety and passenger comfort, real time damped shock absorber is introduced in off-road vehicle [5]. The seat vibration in HDV can be suppressed with static output feedback H-infinity controller and it replaces conventional linear actuator by active seat suspension
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