Dual adaptive robust control for uncertain nonlinear active suspension systems actuated by asymmetric electrohydraulic actuators
| Autor: | Tao Ni, Mingde Gong, Du Miaomiao, Lizhe Ma, Dingxuan Zhao |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Control engineering systems. Automatic machinery (General) Acoustics and Ultrasonics Computer science Mechanical Engineering 020208 electrical & electronic engineering Acoustics. Sound QC221-246 Vibration control 02 engineering and technology Building and Construction Active suspension Dual (category theory) Nonlinear system 020901 industrial engineering & automation Geophysics Mechanics of Materials Control theory TJ212-225 0202 electrical engineering electronic engineering information engineering Robust control Actuator Civil and Structural Engineering |
| Zdroj: | Journal of Low Frequency Noise, Vibration and Active Control, Vol 40 (2021) |
| ISSN: | 2048-4046 1461-3484 |
| Popis: | This study investigates the vibration control issue of active suspension systems. Unlike previous results that neglect the actuator dynamics or consider the impractical symmetrical hydraulic cylinder model, this paper incorporates more reasonable asymmetric electrohydraulic actuator into active suspension system and derives its dynamic model. However, whether active suspension or electrohydraulic actuator suffers from nonlinearities (e.g. nonlinear spring, nonlinear damper and nonlinear actuator dynamics) and parameters uncertainties (e.g. the variations of sprung mass and hydraulic fluid’s bulk modulus as well as hydraulic cylinder original control volumes) , which were rarely synthetically considered in the existing researches.To address these issues, we develop a novel dual adaptive robust controller (ARC). An ARC is firstly designed for main-loop system for stabilizing the car body and improving ride comfort in the presence of nonlinearities and parameter uncertainties as well as road disturbances. In order to meet the constraints requirements of suspension system, the tunable parameters in main-loop control law are optimized by solving linear matrix inequality with kidney-inspired algorithm. Another ARC is further synthesized for sub-loop system to deal with the nonlinear and uncertain dynamics in electrohydraulic actuator for ensuring the force tracking performance. Meanwhile, the uncertain parameters are estimated online to compensate the model deviation. The terminal control law is able to guarantee the asymptotic stability of close-loop system within Lyapunov framework. Finally, the effectiveness and robustness of the proposed controller are demonstrated via excessive simulation experiments over different road conditions. |
| Databáze: | OpenAIRE |
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