Handbook of Vehicle Suspension Control Systems

424 Pages·2013·48.694 MB·English

by  Honghai Lui, Huijun Gao, Ping Li

Control Engineering Series 92
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Handbook of Vehicle Suspension Control Systems surveys the state- Honghai Liu is Head of the Intelligent Systems & ok
of-the-art in advanced suspension control theory and applications. Biomedical Robotics Group at the School of Creative n o
Topics covered include an overview of intelligent vehicle suspension Tweocrhkneodl oing iiensd, uUsntriyv eornsi tlya rogfe P-socratslem inoduuths.t rHiael cporenvtrioolu sly Cf
control systems; intelligence-based vehicle active suspension and system integration projects, and held research oV Control Systems
adaptive control systems; robust active control of an integrated appointments at the Universities of London and Aberdeen. ne
suspension system; an interval type-II fuzzy controller for vehicle His research focuses on machine intelligence, multisensor trh
active suspension systems; active control for actuator uncertain fusion, fault diagnostics, fuzzy and qualitative reasoning, oic
hfrealqf-uceanr csyu sappepnrsoiaocnh ;s yfastuelmt-tos;l earcatnivt ec osunstrpoel nfosri ounn cceornttarionl vweithhic flein ite kanpopwliclaetdiognes r etop reemsebnetadtdioend aronbdo mtico stiyosnte pmlasn annindg waenbd- bthaeseir d l Sle
suspension systems via fuzzy control approach; h-infinity fuzzy systems, particularly those approaches which could make y
control of suspension systems with actuator saturation; design contributions to the intelligent connection of perception s
to action. t
of sliding mode controllers for semi-active suspension systems e
Huijun Gao is Director of the Research Institute of
with magnetorheological dampers; joint design of controller and Intelligent Control and Systems at Harbin Institute of m
parameters for active vehicle suspension; an LMI approach to Technology, China, where his research interests include s
vibration control of vehicle engine-body systems with time delay; networked control systems, signal processing, time-delay
and frequency domain analysis and design of nonlinear vehicle systems, data-driven control, automatic optical inspection,
suspension systems. and opto-mechatronics integration to high-end equipment
manufacturing.
With contributions from an international selection of researchers,
Ping Li is Professor and President at Liaoning Shihua
Handbook of Vehicle Suspension Control Systems will find a
University, China. His research interests include model
place on the bookshelves of academic researchers and industrial predictive control, adaptive control, process computer
practitioners in control engineering, particularly those working on control, process optimization, and applications of advanced
applications for the automotive industry. process control technologies in industrial processes.
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ISBN 978-1-84919-633-8
Vehicle Suspension Control.indd 1 30/10/2013 14:14:48
IETCONTROL ENGINEERING SERIES 92
Handbook of
Vehicle Suspension
Control Systems
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Volume61 Nonlinearpredictivecontrol:theoryandpracticeB.KouvaritakisandM.Cannon
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Volume62 ActivesoundandvibrationcontrolM.O.TokhiandS.M.Veres
Volume63 Steppingmotors,4thEditionP.P.Acarnley
Volume64 Controltheory,2ndEditionJ.R.Leigh
Volume65 ModellingandparameterestimationofdynamicsystemsJ.R.Raol,G.Girijaand
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Volume66 Variablestructuresystems:fromprinciplestoimplementationA.Sabanovic,
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Volume68 Flexiblerobotmanipulators:modelling,simulationandcontrolM.O.Tokhiand
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Volume74 Eigenstructurecontrolalgorithms:applicationstoaircraft/rotorcrafthandling
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Volume77 FurtheradvancesinunmannedmarinevehiclesG.N.RobertsandR.Sutton(Editors)
Volume78 Frequency-domaincontroldesignforhigh-performancesystemsJ.O’Brien
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Volume88 DistributedcontrolandfilteringforindustrialsystemsM.Mahmoud
Volume91 AnintroductiontofractionalcontrolD.Vale´rioandJ.Costa
Handbook of
Vehicle Suspension
Control Systems
Edited by Honghai Liu,
Huijun Gao and Ping Li
The Institution ofEngineeringand Technology
PublishedbyTheInstitutionofEngineeringandTechnology,London,UnitedKingdom
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Contents
Preface xi
1 State-of-the-art of vehicle intelligent suspensioncontrol system 1
Xiaomin Dong
Abstract 1
1.1 Introduction 1
1.2 Evaluation criterion of vehicle suspensionperformance 4
1.2.1 Ride comfort 5
1.2.2 Road holding 5
1.3 Modeling of vehicle suspensionsystem 5
1.3.1 Road model 6
1.3.2 Intelligent quarter-car model 6
1.3.3 Intelligent half-car model 8
1.3.4 Intelligent full-vehicle model 10
1.3.5 Other nonlinear vehicle dynamic model 11
1.3.6 Nonlinear multibody dynamic model 14
1.3.7 Nonlinear uncertainty modeling 15
1.3.8 Nonlinear dynamic model with time delay 16
1.3.9 Nonlinear dynamics model with fault 17
1.3.10 The modeling of actuator 18
1.4 Control strategies 22
1.4.1 Linear control strategies 24
1.4.2 Nonlinear control strategies 24
1.4.3 Uncertainty control methods 25
1.4.4 Time delay control methods 26
1.4.5 Fault-tolerantcontrolmethod 27
1.5 The method of validation 29
1.6 Final remarks and conclusions 31
Acknowledgments 33
References 33
2 Intelligence-basedvehicle active suspensionadaptive
control systems 39
Jiangtao Cao,Ping Li andHonghai Liu
Abstract 39
2.1 Introduction 39
vi Handbook of vehicle suspensioncontrol systems
2.2 Background 43
2.2.1 Active suspensionsystem linear modelsand control 43
2.2.2 Nonlinearity and unmodelingdynamic description
of active suspensionsystem 48
2.3 Adaptive fuzzy control 50
2.4 Adaptive fuzzy sliding-mode control 52
2.4.1 Alleviating SMCchattering 53
2.4.2 FL controller complementary to SMCfor system
nonlinearity and uncertainty 55
2.5 Adaptive neural network control 56
2.6 Genetic algorithm-based adaptive optimization and control 58
2.7 Adaptive control integration 59
2.7.1 Adaptive neuro-fuzzy control 59
2.7.2 Adaptive genetic-basedoptimal fuzzy control 60
2.7.3 GA–NNcombined control 62
2.8 Concluding remarks 62
Acknowledgments 63
References 63
3 Robustactive control of anintegratedsuspensionsystem 69
Haiping Du,James Lam, WeihuaLi andNongZhang
Abstract 69
3.1 Introduction 69
3.2 Uncertain integrated system modelling 71
3.3 Robust control system design 75
3.3.1 Control objectives 75
3.3.2 Robust controller design 77
3.3.3 Force tracking control of electrohydraulic actuators 82
3.4 Numerical simulations 83
3.5 Conclusions 90
Acknowledgements 90
Appendix 91
References 94
4 Aninterval type-2 fuzzy controller for vehicle active
suspensionsystems 99
Jiangtao Cao,Ping Li andHonghai Liu
Abstract 99
4.1 Introduction 99
4.2 Anonlinear active suspensionsystem 101
4.3 The interval type-2 T–S fuzzy control system 103
4.3.1 The general T–S fuzzy model and fuzzy control system 104
4.3.2 The interval type-2 T–S fuzzy control system 105
4.3.3 The proposed IT2 T–S fuzzy controlsystem 107
Contents vii
4.4 Stability analysisof the IT2 T–S fuzzy controlsystem 109
4.5 Simulation examples 111
4.5.1 Anumerical example 111
4.5.2 Ahalf-vehicle active suspensionsystem 113
4.6 Concluding remarks 120
References 120
5 Active control for actuator uncertain half-car suspensionsystems 125
Hongyi Li andHonghaiLiu
Abstract 125
5.1 Introduction 125
5.2 Problem formulation 126
5.3 Main results 131
5.4 Simulation results 134
5.5 Conclusion 141
References 141
6 Active suspensioncontrol withfinite frequency approach 143
Weichao Sun,Huihui Pan,Pinchao WangandHuijunGao
Abstract 143
6.1 Introduction 143
6.2 Problem formulation 144
6.3 State feedback controller design 148
6.4 Dynamic output feedback controller design 152
6.4.1 Finite frequency case 153
6.4.2 Entire frequency case 156
6.5 Simulation 158
6.5.1 State feedback case 158
6.5.2 Dynamic output feedback case 163
6.6 Concluding remarks 166
References 170
7 Fault-tolerant control for uncertainvehicle suspension
systemsvia fuzzy control approach 173
Hongyi Li andHonghaiLiu
Abstract 173
7.1 Introduction 173
7.2 Problem formulation 175
7.3 Fault-tolerant fuzzy controller design 181
7.4 Simulation results 185
7.5 Conclusions 189
Appendix 190
References 193
viii Handbook of vehicle suspensioncontrolsystems
8 H?fuzzy control of suspensionsystemswithactuator
saturation 195
DouniaSaifia, Mohammed Chadli andSalim Labiod
Abstract 195
8.1 Introduction 195
8.2 Suspension systems model 197
8.2.1 Active quarter-car suspension model 197
8.2.2 Half-car suspension model 200
8.2.3 Full-car suspensionmodel 204
8.3 Takagi–Sugeno fuzzy model of suspension systems 208
8.3.1 Takagi–Sugeno representation of active quarter-car
suspension 209
8.3.2 Takagi–Sugeno representation of active half-car
suspension 210
8.3.3 Takagi–Sugeno representation of active full-car
suspension 212
8.4 Validation of Takagi–Sugeno fuzzy model 216
8.4.1 Simulation parameters 216
8.4.2 Validation of Takagi–Sugeno fuzzy model 217
8.5 Actuator saturation 221
8.5.1 Types of saturation 223
8.5.2 Modelling of saturation effect 223
8.5.3 Saturated controland constrained control 224
8.6 Quadratic stabilization of Takagi–Sugeno fuzzy model 225
8.6.1 Convex analysis and linear matrix inequalities 225
8.6.2 Stability in the sense of Lyapunov 226
8.6.3 Attraction region 227
8.6.4 Quadratic stabilization via PDCcontrol 228
8.7 H?approach 230
8.8 Analysis of PDCcontrol with external disturbances and
actuator saturation 230
8.8.1 Constrained control 230
8.8.2 Saturated control 233
8.8.3 Optimization of the attraction region 234
8.9 Control design for a quarter-car active suspensionsystem 235
8.10 Conclusion 239
References 243
9 Designof sliding mode controller for semi-active suspension
systemswithmagnetorheological dampers 247
ShigehiroToyama, MakotoYokoyama andFujio Ikeda
Abstract 247
9.1 Introduction 248
9.2 Control of semi-active suspensionsystems with MRdampers 250
Contents ix
9.2.1 Variable orifice damper 250
9.2.2 MRdamper 252
9.3 Model-followingsliding mode controller for semi-active
suspensionsystems 255
9.3.1 System model and problems 255
9.3.2 Sliding mode controller 257
9.3.3 Simulation results 259
9.4 Sliding mode controller with describing function method 261
9.4.1 Problem formulation 262
9.4.2 Integral sliding mode control 263
9.4.3 Redesign of relay input with describing function method 265
9.4.4 Simulation conditions 266
9.4.5 Accuracy of limit cycle of switchingfunction 267
9.4.6 Improvementofdeteriorationcausedbypassivityconstraint 268
9.4.7 Verification of robustness against parameter variation 269
9.5 VSSobserver of semi-active suspensionsystems 272
9.5.1 Plant 273
9.5.2 Problem formulation 274
9.5.3 Design of VSSobserver 275
9.5.4 Numerical simulations 278
References 283
10 Jointdesignof controller andparameters for active
vehicle suspension 287
Wei Zhan,QingruiZhang,YinanLiu andHuijunGao
Abstract 287
10.1 Overview 287
10.2 Problem formulation 289
10.3 Joint design of the system 290
10.4 Simulation results 293
10.5 Conclusion 299
Acknowledgement 300
References 300
11 Systemapproach to vehicle suspensionsystemcontrol
inCAEenvironment 303
Vladimir M.Popovic´ andDraganD.Stamenkovic´
Abstract 303
11.1 Introduction 303
11.2 Classification of mechatronic suspensionsystems 304
11.3 Design development process 306
11.4 Active suspensionsystem modeling 308
11.4.1 Model of the system in state-space 309
11.4.2 Synthesis of active suspensiondigital system 313