Browse Topic: Passive suspension systems

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Comfort Study of Air Suspension System Based on MPC Control2026-99-01367/31/2026
Air springs are increasingly replacing traditional shock absorbers in vehicle suspension systems due to their superior mechanical properties, including adjustable stiffness, nonlinear characteristics, and excellent damping performance. To further explore the potential of air suspension in improving ride comfort, this paper focuses on air suspension. We first conducted mechanical characteristic experiments on air springs to obtain their stiffness and damping characteristics under different inflation pressures and excitation frequencies. These tests provide essential mechanical parameters for subsequent modeling and simulation. Based on the experimental data, a simplified 1/4 air suspension simulation model is constructed, taking into account the nonlinear stiffness and damping properties of the air springs. To simulate real-world driving conditions, a random road surface model is introduced as the excitation input. Simulation analysis is conducted to compare the air suspension system with the traditional passive suspension system. The results indicate that, compared to the passive suspension system, the air suspension system integrated with Model Predictive Control(MPC) significantly reduces key performance indicators, including suspension deflection, wheel dynamic load, and sprung mass vertical acceleration. This indicates that the suspension with model predictive control can effectively suppress vehicle vibrations, thereby enhancing ride comfort and driving stability. The results of this study provide an important basis for the optimal design of air suspension systems and have practical application value for improving the suspension performance of the vehicle.
Yin, Zhi
BO-NRPPO: A Bayesian Optimization–Tuned Proximal Policy Optimization Framework for Semi-Active Suspension Control10-10-03-00256/25/2026
Semi-active suspension systems enhance ride comfort and handling performance by adaptively modulating damping characteristics. However, conventional model-based controllers often fail to maintain optimal performance under uncertain and time-varying vehicle conditions. This article proposes Bayesian Optimization–Tuned Proximal Policy Optimization with Non-Parametric Rewards (BO-NRPPO), a novel reinforcement learning (RL) framework that integrates Bayesian Optimization (BO) with Proximal Policy Optimization (PPO) and a non-parametric reward function (NRF). The proposed approach enables adaptive self-tuning, data-driven reward shaping, and uncertainty-aware policy learning. Moreover, a Trapezoidal Simple Moving Average (TSMA)–based reward normalization scheme is introduced to accelerate convergence and stabilize training. Simulation results across diverse driving scenarios demonstrate that BO-NRPPO outperforms the passive suspension, the classical Linear Quadratic Regulator (LQR), and PPO with parametric rewards. Specifically, compared to the passive suspension and the LQR baseline, BO-NRPPO achieves up to 6.63% and 5.14% improvements in handling stability, respectively. Concurrently, it delivers maximum enhancements of 46.96% and 42.55% in ride comfort over these two baselines. For real-world vehicle applications, this adaptive self-tuning capability significantly reduces the time-consuming manual calibration efforts typically required in chassis development. Furthermore, Hardware-in-the-loop (HiL) validation confirms its real-time applicability and robustness under uncertain driving conditions, highlighting its immense potential as a scalable intelligent suspension control solution.
Chen, Guoying, Wang, Xinyu, Wang, Jiaqi, Zhan, Xinwang, Bi, Chenxiao, Cong, Shiqi, Hua, Min, Sun, Tianjun, Gao, Zhenhai
Multi-Mode Control Strategy for Controllable Vehicle Suspension Systems2026-99-07125/15/2026
The suspension system with variable damping and variable stiffness actuators can realize four-quadrant mechanical output, effectively combining the energy efficiency of the semi-active suspension with the performance levels approaching those of active suspensions. However, the practical effectiveness of this system depends heavily on the ability of the control strategy to adapt to different driving conditions. In order to meet this challenge, this research has developed a multi-mode suspension collaborative control strategy to optimize energy efficiency and ride comfort in various operating scenarios. Based on the four-quadrant characteristics of the actuator, a suspension mode switching framework has been established, and the suspension work is divided into passive, semi-active, pseudo-active and active modes. In order to determine the appropriate switching boundary, first calculate the root mean square (RMS) value of the sprung mass acceleration and suspension dynamic deflection under passive conditions. With the existing human comfort sensitivity as a reference, the switching threshold of sprung mass acceleration is 0.527 m/s2, and the switching threshold of suspension dynamic deflection is 8.31×10−3m, and the corresponding conversion rules are formulated. Then, the LQR controller optimized by the genetic algorithm is used to allocate the control force adaptively according to the suspension mode to realize cooperative multi-mode operation. The simulation results on B-D composite road surfaces show that compared with traditional passive suspension, this method can reduce the sprung mass acceleration, suspension dynamic deflection and tire dynamic load by 10.59%, 16.65% and 32.9% respectively. These results confirm that the collaborative control strategy significantly improves the ride comfort, vehicle adaptability and overall performance in complex road conditions.
Li, Zhiying, Li, Jei, Zhu, Anding, Bai, Xianxu, Li, Weihan, Li, Rui
A Frequency-Aware Reinforcement Learning Framework for Suspension Control with Integrated Temporal Features and Expert Guidance2026-01-02094/7/2026
Active suspension systems play a crucial role in improving vehicle ride comfort and handling stability. However, most existing studies focus on the low-frequency range below 20 Hz, leaving the suppression of high-frequency vibrations within 50–500 Hz largely unexplored, even though these vibrations strongly affect in-cabin noise and ride quality. To address this gap, this study introduces a quarter-car suspension model incorporating both bushing dynamics and a rigid-ring tire within a reinforcement learning (RL) framework. A major challenge for RL-based suspension control is its degradation in high-frequency performance. To overcome this issue, we design an innovative training framework that integrates multiple synergistic strategies. First, frequency-domain rewards are incorporated as auxiliary signals to explicitly guide policy optimization in the high-frequency band. Second, long short-term memory (LSTM) networks are embedded in both the Actor and Critic to capture the sequential dependencies of time-domain suspension signals, thereby enhancing temporal feature extraction. Finally, model predictive control (MPC) expert knowledge is injected through reward shaping, which accelerates convergence and stabilizes the learned policy. This combination allows the proposed controller to effectively exploit both data-driven learning and model-based insights for full-band suspension optimization. Simulation results show that the method achieves a 29.67% reduction in body acceleration RMS in the 0–20 Hz range compared with a passive suspension, and further achieves a 62.65% reduction in the 50–500 Hz range relative to a baseline RL controller. By explicitly targeting vibration responses in the in-cabin acoustic control band (20–500 Hz), this study establishes a foundation for integrated suspension-acoustic optimization, offering new insights into ride comfort and NVH enhancement in intelligent vehicles.
zhu, Zhehui, Zhang, Lijun, Meng, Dejian, Hu, Xingyu
Ideal Skyhook-Groundhook Model Informed Wheelbase-Preview Controller for Semi-Active Suspension System2025-01-732512/31/2025
The suspension system, as a critical component of vehicle chassis, connects body frame and wheels, therefore affecting the ride comfort and handing stability of vehicles. To prevent high-frequency oscillations from large control increments of traditional algorithms, an ideal reference model is introduced to ensure a more smooth and efficient suspension responses that align with actual physical characteristics. The ideal skyhook, ideal groundhook, and ideal skyhook-groundhook models are evaluated with respect to their frequency response. As a result, the optimal configuration-ideal skyhook-groundhook model, exhibits the best overall performance and is incorporated with wheelbase preview mechanism as reference model (WP-SHGH). Further, a wheelbase-preview controller based on MPC framework (WPMPC-SHGH) is developed to regulate the responses of semi-active suspension. The Adams/Car-Simulink co-simulation platform is built for validation and comparison on the impact and ISO-B random roads. Compared to the passive suspension and the similar controller without reference model, the proposed WPMPC-SHGH significantly reduces vertical acceleration and pitch acceleration of vehicle body, which thereby enhances vehicle ride comfort. In addition, while maintaining suspension performances, the WPMPC-SHGH anticipates less control forces and leads to a reduction in energy consumption of semi-active suspension.
Yang, Li, Wang, Qingyun, Tan, Kanlun, Chen, Hao, Zhang, Zhifei
Integral–Derivative-Tilted Controller for Semi-Active Magnetorheological Truck Suspension System Using Combined Multi-Objective Ant Colony Optimization Algorithm02-19-02-000910/29/2025
This study proposes a novel control strategy for a semi-active truck suspension system using an integral–derivative-tilted (ID-T) controller, developed as a modification of the TID controller. The ant colony optimization (ACO) algorithm is employed to tune the controller parameters. Performance is evaluated on an eight-degrees-of-freedom semi-active suspension system equipped with MR dampers. The objective is to minimize essential dynamic responses (displacement, velocity, and acceleration) of the sprung mass, cabin, and seat. The controller also considers the nonlinear effects including suspension travel, pitch dynamics, dynamic tire loads, and seat-level vibration dose value (VDV). System performance is assessed under both single bump and random road excitations. The ACO-tuned ID-T controller is compared against passive suspension, MR passive (OFF/ON), and ACO-tuned PID and TID controllers. Simulation results demonstrate that the proposed controller achieves superior performance in both time and frequency domains under diverse road conditions.
Gad, S., Metered, H., Bassiuny, A. M.
Developing Military Light Utility Vehicle Performance Based on Air Semi-Active Suspension System Using Recurrent Neural Network–Based Controller10-09-04-00306/19/2025
This research presents a semi-active suspension system that combines an air spring and a magneto-rheological (MR) fluid damper to produce both active force and variable damping rates based on the road conditions. The suspension system used for the military light utility vehicle (MLUV) has seven degrees of freedom. A nonlinear model predictive control system generates the desired active force for the air spring control signal, while the linear quadratic regulator (LQR) estimates the target tracking of the intended damping force. The recurrent neural network is designed to develop a controller for an identification system. To achieve the optimal voltage for the MR damper without log time, it is used to simultaneously determine the active control force of the air spring by modifying the necessary damping force tracking. The MLUV suspension system is integrated with the traction control system to improve overall vehicle stability. A fuzzy traction controller adjusts the throttle angle based on the driver’s throttle input and the slip ratio of the driving wheels. Constant speed, passing maneuvers, increasing acceleration, and forceful braking are the four scenarios the driver uses to assess the traction control capability. Investigations are conducted to examine the interaction between the suspension and traction systems and how this interaction influences the integrated model that represents the vehicle’s behavior and performance. The effectiveness of the suspension is assessed under bump and random road excitations, based on the presentation of vehicle performance criteria in both the time and frequency domains. The results of the simulation show that in terms of ride comfort and vehicle stability, the air–MR suspension system performs significantly better than the passive suspension system. A fuzzy traction controller can smooth out the torque applied to the vehicle’s wheels by adjusting the engine’s speed and torque.
Shehata Gad, Ahmed
Experimental Investigation on Genetic Algorithm Optimized Proportional Integral Derivative Based Active Suspension System2025-01-00145/5/2025
In this work, Genetic Algorithm (GA) optimized Proportional Integral Derivative (PID) controller is employed in the active suspension. The PID gain values are optimally tuned based on the objective function by 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 (QC) test rig model. The fabricated model with passive suspension system (PASS) and active suspension system (ACSS) with an electrical actuator is presented. 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 experimental cases respectively.
A, Arivazhagan, Kandavel, Arunachalam
Artificial Intelligence Technique Applied to Semi-Active Vibration Control in Vehicle Suspension System2025-01-82704/1/2025
This study investigates the influence of magnetorheological (MR) dampers in semi-active suspension systems (SASSs) on ride comfort, vehicle stability, and overall performance. Semi-active suspension systems achieve greater flexibility and efficacy by combining MR dampers with the advantages of active and passive suspension systems. The study aims to measure the benefits of MR dampers in improving ride comfort, vehicle stability, and overall system performance. The dynamic system model meets all required performance criteria. This study demonstrates that the proposed artificial intelligence approach, including a fuzzy neural networks proportional-integral-derivative (FNN-PID) controller, significantly enhances key performance criteria when tested under various road profiles. The control performance requirements in engineering systems are evaluated in the frequency and time domains. A quarter-car model with two degrees of freedom (2 DOF) was simulated using MATLAB/Simulink to assess the suggested controller’s performance. The enhanced FNN-PID controller greatly increases ride comfort and vehicle stability when compared to fuzzy neural networks based on PID control strategies proposed, passive suspension systems, uncontrolled MR suspension, and PID controller, according to analysis of the simulated preliminary data. The algorithms' performance is evaluated using a wide range of crucial performance criteria, such as the suspension working space, body mass acceleration, dynamic tire load, and desired force. The phase plane method is used to evaluate system stability. The results clearly show that the proposed controller for the SASS significantly enhances both road holding and ride comfort, highlighting its strong potential for real-world applications.
M.Faragallah, Mohamed, Metered, Hassan, Abdelghany, M.A., Essam, Mahmoud A.
Vibration Mitigation of Semi-Active Vehicle Suspension System Incorporating Magnetorheological Damper Using Hybrid Control2025-01-82694/1/2025
Magnetorheological (MR) dampers, known for their remarkable dependability and cost-effectiveness, have established themselves as prime semi-active vibration control devices in engineering systems. MR dampers are categorized as adaptive devices because their features may be readily adjusted by applying a regulated voltage signal. Their ability to offer superior performance while mitigating the drawbacks of fully active actuators underscores their practical significance. This research is to investigate some system hybrid controllers using a combination state derivative feedback and a linear-quadratic regulator for use in conjunction with the damper controller of a semi-active suspension of a Quarter vehicle model to improve ride comfort and vehicle stability. The mathematical model of 3 degrees of freedom for semi-active suspension using MR dampers will be derived and simulated using MATLAB and SIMULINK software. In order to quantify the effectiveness of the suggested control strategies, the control performance criteria will be assessed in both the time domain and the frequency domain engineering systems. Initial findings demonstrate an improvement in the semi-active system, which compared with the passive suspension system without any control system and the semi-active suspension system with a classical PID controller.
M.Faragallah, Mohamed, Metered, Hassan, Essam, Mahmoud A.
Effectiveness of Seat’s Negative Stiffness Structure on Three Different Models of Vehicles15-18-02-00112/8/2025
The effectiveness of the negative suspension structure (NSS) in isolating the driver’s seat vibrations has been demonstrated based on the seat’s model or vehicle’s one-dimensional dynamic model. To fully assess the effectiveness and stability of the seat’s NSS (S-NSS) on different models of vehicles, the three-dimensional models of the vibratory rollers (VR), heavy trucks (HT), and passenger cars (PC) have been built to assess the effectiveness of S-NSS compared to the seat’s passive suspension (S-PC) and seat’s control suspension (S-CS). The effectiveness of S-NSS is then investigated under all operating conditions of vehicles. The investigation results indicate that under a same simulation condition, S-NSS improves the ride comfort and health of the driver better than both S-PS and S-CS on all VR, HT, and PC. However, the effectiveness of S-NSS on PC is lower than on both VR and HT while the effectiveness of S-CS on PC is better than on both VR and HT. Besides, the effectiveness of S-NSS with VR moving on the poor class of the ground surface is better than on the good class of the ground surface. In addition, under the change of the velocity and seat mass, the effectiveness of S-NSS on VR is not only higher than that on HT and PC but also very stable, conversely, the effectiveness of S-CS on PC is better than that on VR and HT. These results imply that S-NSS should be applied on the seat suspension of VR, HT, and PC to improve the comfort and health of the driver, especially on VR, while S-CS should be applied to PC to achieve its best isolation effectiveness.
Su, Beibei, Wang, Qiang, Song, Fengxiang
Research on Multi-Mode Switching Strategy for Electromagnetic Suspension2024-01-700511/15/2024
This study proposes a multi-mode switching control strategy based on electromagnetic damper suspension (EMDS) to address the different performance requirements of suspension systems on variable road surfaces. The working modes of EMDS are divided into semi-active damping mode and energy harvest mode, and the proposed mode switching threshold is the weighted root mean square value of acceleration. For the semi-active damping mode, a controller based on LQR(Linear Quadratic Regulator) was designed, and a variable resistance circuit was also designed to meet the requirements of the semi-active mode, which optimized the damping effect relative to passive suspension. For the energy harvest mode, an energy harvest circuit was designed to recover vibration energy. In order to reduce the deterioration of suspension performance caused by frequent mode switching in the mode switching strategy, as frequent system switching can lead to system disorder, deterioration of damping effect, and reduction of energy harvest efficiency, two switching conditions are introduced to increase system stability, namely mode switching judgment frequency and sampling interval time. The setting of mode switching judgment frequency is to avoid sudden and occasional switching, while the setting of sampling interval time is to obtain a more reasonable weighted acceleration root mean square value. By selecting these two parameters reasonably, the stability and effect of mode switching can be optimized. The results indicate that the multi-mode switching control strategy can achieve reasonable switching of electromagnetic suspension in two modes, achieving good vibration reduction effect and certain energy harvest capability.
Zeng, Sheng, Zhang, Bangji, Tan, Bohuan, Qin, An, Lai, Jiewen, Wang, Shichen
Modelling, Simulation and Testing of Adaptive Sliding Mode Control for Semi-Active Suspension System Based on Road Information2024-01-27654/9/2024
The accuracy of chassis control for intelligent electric vehicles (IEVs), especially in road-based IEVs control for improving road holding and ride comfort, is a challenging task for the intelligent transport system. Due to the high fatality rate caused by inaccurate road-based control algorithms, how to precisely and effectively choose a reasonable road-based control algorithm become a hot topic in both academia and industry. To address and improve the performance of road holding and ride comfort of IEVs by using a semi-active suspension system, an adaptive sliding mode control (ASMC) algorithm-based road information is proposed to realize the overall performance of the intelligent vehicle chassis system in the paper. Firstly, the models of road excitation and equivalent hybrid control of a quarter semi-active suspension system are established. Secondly, connecting with the minimum redundancy maximum relevance (MRMR) approach and probability neural network (PNN) theory, the method of road classification is developed based on the MRMR-PNN algorithm under various road excitation. Thirdly, using the sliding mode variable structure and neural network control theory, an ASMC algorithm based road information is developed. Then, a cuckoo search-based multi-objective optimization method is employed to obtain the optimization control parameters of the proposed ASMC algorithm. Finally, compared with the passive suspension system, the skyhook control algorithm, and the ASMC algorithm by simulation and test, the performance indexes of road holding and ride comfort are analyzed under ISO-C road excitation. Simulation and experimental results show that the better performance of the proposed ASMC algorithm can be obtained under different control weights of semi-active suspension system performance indexes, but also the root mean square values of sprung mass acceleration and rattle space compared with passive suspension system optimize no less than 6%. The research achievements develop a reasonable algorithm to apply to improving chassis performance for electric vehicles.
Wang, Zhenfeng, Liao, Yinsheng, Zhang, Zhijie, Hu, Zhiming, Zhao, Gaoming, Huang, Taishuo, Zhang, Lei
Damping Force Optimal Control Strategy for Semi-Active Suspension System2024-01-22864/9/2024
Semi-active suspension system (SASS) could enhance the ride comfort of the vehicle across different operating conditions through adjusting damping characteristics. However, current SASS are often calibrated based on engineering experience when selecting parameters for its controller, which complicates the achievement of optimal performance and leads to a decline in ride comfort for the vehicle being controlled. Linear quadratic constrained optimal control is a crucial tool for enhancing the performance of semi-active suspensions. It considers various performance objectives, such as ride comfort, handling stability, and driving safety. This study presents a control strategy for determining optimal damping force in SASS to enhance driving comfort. First, we analyze the working principle of the SASS and construct a seven-degree-of-freedom model. Next, the damping force optimal control strategy is designed by comprising of the Genetic Algorithm (GA) and the Linear Quadratic Regulator (LQR). The cost function, which provides a quantitative evaluation of the controlled vehicle's driving comfort performance, is constructed by calculating the root mean square value of the body's vertical acceleration, suspension dynamic deflection, and wheel dynamic deformation. Based on this evaluation, we utilize the LQR to convert the damping force control problem of the SASS into a multi-objective optimal control problem. At the same time, the GA is used to comprehensively optimize weighted coefficients of the cost function, and successfully achieve the damping force optimal control for SASS. Finally, we constructed a joint simulation platform using CarSim and MATLAB/Simulink to evaluate and validate. The simulation results demonstrate the SASS’ optimal damping force control strategy could considerably enhance the vehicle ride comfort under various operating conditions comparing with the passive suspension.
Zhao, Jian, Li, Wanting, Zhu, Bing, Chen, Zhicheng, Ding, Shuwei, Li, Junwei, Hao, Wenquan, Zhang, Yong
Research on the Control Strategy of Electric Vehicle Active Suspension Based on Fuzzy Theory2024-01-22904/9/2024
The performance of suspension system has a direct impact on the riding comfort and smoothness. For the traditional suspension can not effectively alleviate the impact of road surface and the poor anti-vibration performance, The dynamics model of vehicle suspension system is established, and the control model of vehicle four-degree-of-freedom active suspension is designed with fuzzy control strategy. On this basis, a comprehensive simulation model of the control model of vehicle active suspension coupled with road excitation is established. and the ride comfort of vehicles under different types of suspension are tested through Simulink. The simulation results show that compared with the passive suspension, the reduction of vehicle acceleration and dynamic deformation of the active suspension controlled by fuzzy PID can reach 33.76% and 22.45%. and the reduction of pitch Angle speed and dynamic load of the active suspension controlled by fuzzy PID can reach 16.18% and 10.72%. Under fuzzy PID control, the amplitude of each evaluation index of active suspension in the suspension system is substantially reduced than that of the passive suspension, and the root-mean-square value decreases by about 10% on average. It can be seen that the active suspension with fuzzy PID control can improve the performance of the suspension system on the basis of ensuring the stability and rapid response of the system, and can well reduce the random vibration caused by the impact of the vehicle on the random road surface during the driving process, improve the ride comfort, smoothness and ride safety of the vehicle, and achieve a good control effect on the vehicle suspension.
Jing, Li Jing
Design, Modeling, and Analysis of Heave and Roll Decoupled Suspension Geometry for a Formula Student Prototype2024-01-20774/9/2024
This work aims to present the application of mode coupling to a Formula Student racing vehicle and propose a solution. The major modes of a vehicle are heave, pitch, roll, and warp. All these modes are highly coupled – which means changing suspension rates or geometry will affect all of them – while alleviating some and making others worse characteristics. Decoupling these modes, or at least some of them, would provide more control over suspension setup and more refined race car dynamics for a given layout of the racetrack. This could improve mechanical grip and yield significant performance improvements in closed-circuit racing. If exploited well, this approach could also assist in the operation of the vehicle at an optimal kinematic state of the suspension systems, to gain the best wheel orientations and maximize grip from the tires under the high lateral accelerations and varied excitations seen on a typical road course. Previous strategies used by other researchers to achieve similar goals are reviewed as part of this work. Some common topologies to achieve the same results are summarized, and conventional suspensions without decoupling are compared and contrasted. Ultimately, this work focuses on the heave and roll decoupling mechanisms for conventional passive suspensions, rather than full active mode decoupling, to recognize the practical constraints of time and cost that are faced by Formula Student teams.
Panchal, Tanmay, Bastiaan, Jennifer
Evaluation of Semi-Active Vehicle Suspension System Performance Incorporating Magnetorheological Damper Using Optimized Feedback Controller Based on State-Derivative2024-01-22884/9/2024
The purpose of this paper is to investigate the efficiency of a quarter car semi-active suspension system with the state-derivative feedback controller using the Bouc-Wen model for magneto-rheological fluids. The magnetorheological (MR) dampers are classified as adaptive devices because of their characteristics can be easily modified by applying a controlled voltage signal. Semi-active suspension with MR dampers combines the benefits of active and passive suspension systems. The dynamic system captures the basic performance of the suspension, including seat travel distance, body acceleration, passenger acceleration, suspension travel distance, dynamic tire deflection and damping force. With minimal reliance on the use of sensors, the investigation aims to improve ride comfort and vehicle stability. In this study, the state derivative feedback controller and Genetic algorithm (GA) is utilized to improve the performance of semi-active suspension system. Moreover, the cost is reduced compared to the passive suspension and the active suspension systems in which sensors and actuators are used. The performance of the semi-active suspension is represented by applying the road profile to the system. This is accomplished by simulating and analyzing system performance using MATLAB and SIMULINK. Initial results show an improvement in the semi-active system, which includes both the passive suspension system without any control system and the active suspension system with a PID controller.
M.Faragallah, Mohamed, Metered, Hassan, Abdelaziz, Taha H.
Energy Dissipation Characteristics Analysis of Automotive Vibration PID Control Based on Adaptive Differential Evolution Algorithm2024-01-22874/9/2024
To address the issue of PID control for automotive vibration, this paper supplements and develops the evaluation of automotive vibration characteristics, and proposes a vibration response quantity for evaluating the energy dissipation characteristics of automotive vibration. A two-degree-of-freedom single wheel model for automotive vibration control is established, and the conventional vibration response variables for ride comfort evaluation and the energy consumption vibration response variables for energy dissipation characteristics evaluation are determined. This paper uses the Adaptive Differential Evolution (ADE) algorithm to tune the PID control parameters and introduces an adaptive mutation factor to improve the algorithm's adaptability. Several commonly used adaptive mutation factors are summarized in this paper, and their effects on algorithm improvement are compared. Design a simulation test plan for commonly used B-class road surfaces and a common speed of 60 km/h under urban driving conditions. To demonstrate the ADE-PID control effect of the ADE algorithm tuning, the ADE algorithm is compared with manually tuned PID control and passive suspension under the same simulation conditions. The results show that the adaptive differential evolution algorithm can effectively improve the tuning efficiency of PID control parameters; PID control can effectively improve the vehicle ride comfort, but it makes the vibration energy dissipation characteristics worse; the ADE-PID control proposed in this paper can improve the conventional ride comfort of vehicles and reduce the negative effects on vibration energy dissipation characteristics; the energy dissipation vibration response as a supplement to conventional vibration response is beneficial for expanding the research and application scope of automotive vibration and its control in the past.
Jie, Li, Dou, Lei, Zhao, Qi, Qiao, Bin, Liu, Jiayong, Zhang, Wei
Time Domain Analysis of Ride Comfort and Energy Dissipation Characteristics of Automotive Vibration Proportional–Integral–Derivative Control10-08-01-00042/5/2024
A time domain analysis method of ride comfort and energy dissipation characteristics is proposed for automotive vibration proportional–integral–derivative (PID) control. A two-degrees-of-freedom single wheel model for automotive vibration control is established, and the conventional vibration response variables for ride comfort evaluation and the energy consumption vibration response variables for energy dissipation characteristics evaluation are determined, and the Routh stability criterion method was introduced to assess the impact of PID control on vehicle stability. The PID control parameters are tuned using the differential evolution algorithm, and to improve the algorithm’s adaptive ability, an adaptive operator is introduced, so that the mutation factor of differential evolution algorithm can change with the number of iterations. The PID control parameter optimization method presented in this article is versatile and can be used to optimize PID control parameters under different conditions. This article provides the results of PID control parameter optimization under different conditions. Based on PID control and its parameter tuning, a time domain solution method for two types of vibration response variables, their root mean square values, and the average power of energy consumption vibration of automotive vibration PID control is proposed. Two kinds of simulation test schemes are designed under urban driving conditions, which are commonly used Class B road and pulse road, with a commonly used vehicle speed of 60 km/h. The ride comfort and energy dissipation characteristics of passive suspension and PID control are compared. The results show that introducing energy consumption vibration response variables as a supplement to the conventional vibration response variables is beneficial for expanding the research and application scope of the automotive vibration and its control; with the sprung mass acceleration deviation as the control input, PID control can effectively improve the vehicle ride comfort, but it makes the vibration energy dissipation characteristics worse.
Li, Jie, Dou, Lei, Zhao, Qi, Qiao, Bin, Liu, Jiayong, Zhang, Wei
Adopting Pothole Mitigation System for Improved Ride, Handling and Enhanced Component Life2024-26-00591/16/2024
Potholes are a major cause of discomfort for riders and vehicle damage. The passive suspension systems which are used in the passenger vehicles are primarily reaction based. These can’t adapt to the changing road conditions which means the best ride quality and handling characteristics cannot be ensured for different driving situations. Passive suspension system also needs more maintenance due to its inability to reduce the impact of the road irregularities. In recent years, semi-active suspension systems have been developed to improve ride comfort and vehicle safety. This paper covers the integration of a semi-active suspension system with a road preview mechanism with a TATA car model to investigate its impact on ride comfort, handling characteristics and component loads in digital domain. A quarter car vehicle model is used to compare different active damping control strategies. The best strategy is selected and integrated in a full vehicle MBS model to gain deeper insight on ride and loadpaths. The simulation results show that the proposed system reduces the vertical acceleration and displacement of the vehicle during pothole impacts. The system also improved the vehicle's pitch, roll and other critical characteristics. Loads on different suspension components also reduced. Adoption of semi-active suspension systems in a TML passenger cars would lead to a transformation in the performance of ride comfort, handling dynamics and enhanced component life. The proposed system provides a practical and cost-effective solution to address the issue of potholes and has a positive impact on vehicle dynamics during pothole impacts. Overall, it will provide a more dynamic, comfortable and safer driving experience, making it a choice for a high performance car.
Mishra, Satyakam, Prasad, Tej, Maruenda Sanz, Javier
Hierarchical Control Strategy for Active Suspension Equipped with an Electromagnetic Actuator2023-01-707712/31/2023
Electromagnetic suspension systems have increasingly gained widespread attention due to their superiority in improving ride comfort while providing fast response, excellent controllability and high mechanical efficiency, but their applications are limited due to the accuracy of the underlying control actuation tracking. For addressing this problem, this study presents a novel hierarchical control strategy for an electromagnetic active suspension (EMAS) system equipped with an electromagnetic actuator (EMA) structure. The structure of the EMA device and the working principle of the motion conversion model are introduced in detail first, and the motion conversion equation is derived based on the force-torque relationship. Based on this, a linear quadratic regulator (LQR) control method is proposed to be applied to a half-vehicle suspension system to improve the vibration isolation performance of the vehicle and ensure the ride comfort. Then, the underlying layer control of the permanent magnet synchronous motor (PMSM) based on field-oriented control (FOC) is adopted to tracking the active control forces generated by the upper LQR controller. Immediately afterwards, the EMA converts the torque generated by the motor into vertical forces acting on the suspension through rational synergies between the upper LQR controller and the underlying motor controller, which ultimately achieves active control of the vehicle suspension system. The simulations are carried out from the perspective of the half-vehicle integrated with the EMA, which demonstrate that the proposed EMAS system has greatly reduced vehicle vertical and pitch accelerations compared to the conventional passive suspension, significantly improving the ride comfort and vibration isolation effect on external excitation.
Lai, Jiewen, Zhang, Bangji, Qin, An, Zeng, Sheng, Wang, Shichen
Research on Vibration Control and Energy Study of Vehicle Electromagnetic Suspension Based on Sliding Mode Control2023-01-708412/31/2023
This article proposes an electromagnetic damper (EMD) based on a ball screw mechanical structure actuator. To prove the damping effect of the new damper proposed in this paper. In this paper, the EMD suspension is validated on a quarter vehicle suspension. A mathematical model of quarter vehicle suspension is developed and a sliding mode variable structure controller is designed. This sliding mode controller enables vibration control of the suspension and improves ride comfort. To make the EMD track the ideal current effectively, a variable resistance circuit that can change the electromagnetic damping force is proposed to achieve the graded adjustment of resistance. A semi-active vehicle vibration control strategy was designed, and experiments were conducted using a quarter-vehicle test platform to verify the vibration-damping performance of this EMD suspension. The energy transfer to the road was analyzed and the higher the variable resistance, the more energy is transferred to the vehicle. The experimental results show that the EMD suspension reduces the acceleration RMS by 25.53 %, 23.57 % and 16.48 % under sinusoidal, bump and random road conditions, respectively, compared to the passive suspension. This ensures that the dynamic travel of the suspension and the dynamic loading of the tire is within reasonable limits. The energy of the road surface, the energy consumed by the EMD, the energy transferred to the tire and the energy of the vehicle were also analysed. The experimental results show that the lower the resistance in the EMD circuit, the less energy is transferred to the vehicle, and that the EMD suspension reduces the energy transferred from the road surface to the vehicle by 8 % compared to the passive suspension under random road conditions. The experiment proves that it greatly improves the comfort of the vehicle while ensuring the stability of vehicle control.
Zhou, Xiangru, Liu, Pengfei, Ning, Donghong, Yu, Jianqiang, Du, Haiping
Optimal Damping Matching of Semi-Active Air Suspension Based on Vehicle Comfort and Handling2023-01-07814/11/2023
Many vehicles have been equipped with air springs as elastic elements to get better performance in comfort, but absorbers may not work in an optimal state due to the variation of suspension stiffness. While the function of semi-active suspension is to enable the absorber damping to be adjusted according to different road roughness levels and to coordinate between comfort and handling. To solve the problem of matching the damping coefficient of variable stiffness suspensions represented by air springs, this paper proposed a method for calculating the optimal damping ratio of a semi-active suspension system in real-time with sprung mass acceleration and dynamic tire load to establish the objective function and suspension dynamic deflection as the constraint to reflect the unification of comfort and handling. The effectiveness of the proposed damping calculated method is validated by comparing it with classical methods including passive suspension and shy-hook control on straight roads with different road roughness.
Zhu, Qingxiao, Chen, Zixuan, Yu, Dong, Lao, Zhenhai, Zhang, Yunqing
Electrical Network Optimization Based Electrically Interconnected Suspension Control for Vehicle Cabin2023-01-01724/11/2023
In order to further improve the influence of the electrically interconnected suspension (EIS) on the ride-comfort, a four-port electrical network (EN) is established in the SIMULINK environment based on the existing EIS research and applied to the passive model of the cabin system. This model is a passive suspension model composed of the road surface excitation, the main suspension, and the cabin suspension. The electrical network of EIS is connected with the cabin suspension section so that the interconnection is completely achieved in the cabin suspension system. The simulation results indicated that the four-port EIS is able to decouple the cabin motion in the three directions of heave, pitch, and roll, and improved the ride comfort and handling stability by adjusting the parameters of the circuit components. Based on the current achievement, Road profiles of a class A according to ISO 8608 was utilized as the excitation in the modelling stage to study the ride quality of light commercial vehicles on urban traffic road. Genetic algorithm (GA) method in MATLAB is utilized to alter the optimizing targets for each speed of road excitation. Both the time-domain simulation and the frequency-weighted RMS prove that the optimized EIS system can effectively reduce the motion acceleration of the cabin. Moreover, the motion sickness dosing value of the optimized cabin suspension is reduced by 31.68%. It can be said that GA optimization has a great effect on reducing the motion sickness of passive EIS vehicles in urban traffic.
Gao, Zishan, Xia, Xiangjun, Liao, Yulin, Ning, Donghong, Liu, Pengfei, Du, Haiping
Switchable Control Strategy Study of a Novel Multi-function Electromagnetic Damper Based on Road Classification2023-01-01734/11/2023
Electromagnetic damper (EMD), which has shown good vibration isolation and energy harvesting potential, has received much attention in recent years. In addition, the harvested energy of EMD systems can be used to further suppress severe vibration. When the harvested energy of the suspension system is more than the consumed energy, the suspension system can realize self-powered functions. However, the integration of the above three functions is a challenge for the design of EMD systems. In this paper, a novel multi-function electromagnetic damper (MFEMD) system, which integrates the semi-active vibration control mode, energy-harvesting mode, and self-powered mode, is introduced first. The MFEIS system applies an H-bridge circuit to control the multi-directional flow of circuit energy flow, and the supercapacitor is used as the energy storage device because of its high-power density and rapid response speed. Since vehicles are driving in complex road conditions in the real world, road information needs to be considered to control the MFEMD system. Additionally, the energy recovery efficiency and vibration suppression performance of the MFEMD system also need to be balanced. A switchable control strategy based on road classification is proposed to switch the state of the MFEMD system. According to the real driving conditions, roads are classified into three categories, namely high-speed smooth roads, medium-speed good roads, and low-speed bad roads. The state of the MFEMD system is switched based on the road information to balance the ride comfort and energy recovery efficiency. A complex road, which contains different levels of random roads, is adopted to verify the effectiveness of the proposed control strategy. Simulation results verified the effectiveness of the proposed switchable control strategy compared with a well-tuned passive suspension and a semi-active suspension.
Xia, Xiangjun, Ning, Donghong, Liao, Yulin, Liu, Pengfei, Du, Haiping
Four-Wheel Vehicle Response under Bump, Pothole, Harmonic, and Random Excitations Using Bond Graph/Simulink Technique02-16-02-000811/10/2022
The present article analyses a 7 degrees of freedom full car model of a light four-wheel wheeler formulated analytically and using the bond graph/Simulink technique. A full car model formulated using the Bond graph/Simulink technique is fed with the bump, pothole, harmonic, and random excitations to analyze the vehicle’s dynamic behavior. The bond graph/Simulink model is validated by comparing its results with that of the analytical model when subjected to circular bump inputs and comparing its results with that of the field test when subjected to random inputs. The vehicle model is fitted with a skyhook control strategy on the axles and the response of the semi-active system is compared with the passive system. The present analysis suggests that a vehicle system with semi-active suspension shows improved vibration isolation characteristics as compared with passive suspension system when subjected to different types of excitations.
Sharma, Rakesh Chandmal, Palli, Srihari, Gopala Rao, L. V. V., Duppala, Azad, Sharma, Sunil Kumar
Letter from the Special Issue Editors10-06-04-002211/4/2022
Letter from the Special Issue Editors
Kaldas, Mina, Trimboli, Sergio, Recker, Darrel, Hoersken, Christian
Effect of Optimal Fuzzy Models for Pneumatic Magnetorheological Suspension System on Ride Performance under Different Conditions10-06-04-00288/23/2022
In this article, the nonlinear pneumatic magnetorheological (MR) suspension system is designed to improve vehicle characteristics in both ride comfort and dynamic stability. The four-degree-of-freedom (4-DOF) half-vehicle suspension system that is described based on bounce and pitch motions is derived. Both interval type-1 (T-1) and interval type-2 (T-2) of fuzzy models are applied as alternative controllers for the pneumatic MR suspension system. Both a controlled force of air spring and tracking ability of desired damping force are generated for each wheel of alternative controllers. In order to apply voltages for both the front and rear MR dampers, the tracks of desired damping forces are incorporated with the front MR damper controller and rear MR damper controller, respectively. The conventional damping case of the passive suspension system is used as a baseline for comparisons. The control performance criteria are presented in the frequency and time domains to quantify the suspension effectiveness under bump and random road disturbances. The point contact tire model is compared with the rigid tread band model based on fit for the proposed suspension systems. The simulation results show that the pneumatic MR suspension system integrated with the rigid tread band tire model is more effective in improving vehicle characteristics than the passive suspension system. The transmitted tire force based on the point contact tire model may be overestimated, but it is underestimated with the fixed footprint model. Especially at the resonance peaks, it can also be seen that the pneumatic MR suspension system is capable to dissipate the vibration energy when compared with the passive suspension system under different road conditions. Significantly, this system can maintain the sprung mass height constantly with the control vehicle body due to pitch motion.
Shehata Gad, Ahmed, El-Demerdash, Samir M.
Initial Pitch Control for Semi-active Suspension System10-06-04-00278/18/2022
The aim of this study is to develop an Add-On Feature that could support the semi-active suspension system controller during longitudinal dynamics maneuvers. The Add-On Feature called Initial Pitch Control (IPC) is activated during launching, shifting, and braking to enhance the pitch motion characteristics and road-holding capability. A sixteen degrees-of-freedom (DoF) vehicle mathematical model represents the vertical and longitudinal dynamics developed and validated via laboratory and road tests. A hydraulic four-poster test rig is used to carry out the laboratory tests for the vertical dynamics verification, while the longitudinal dynamic verification is achieved through the performed tests on a highway track. In order to design the IPC algorithm, the Rule-Optimized (RO) semi-active suspension controller, an Anti-lock Braking System (ABS) controller, and seven gears Dual-Clutch Transmission (DCT) controller are implemented in the vehicle model. An optimization routine has been applied to find the optimum force gains for the IPC algorithm. The IPC algorithm is evaluated in terms of the body pitching motion and the road holding during launching and braking. Comparisons between the passive suspension and semi-active suspension systems with and without the proposed IPC algorithm have been performed. The obtained results illustrated that the IPC algorithm with the semi-active controller improved both the pitching motion and road-holding characteristics of the vehicle compared with the passive suspension system and semi-active suspension without IPC.
Kaldas, Mina M., Rivas, Jorge, Soliman, Aref M.A.
Enhancing Ride Comfort and Stability of a Large Van Using an Improved Semi-active Stability Augmentation System10-06-04-00268/12/2022
In large vehicles, controlled suspension systems play a vital role in balancing the trade-off between ride comfort and vehicle stability. This article attempts to improve the semi-active stability augmentation system (S-SAS) to provide enhanced passenger comfort and vehicle stability irrespective of the road terrain. A type-1 (T1) fuzzy attitude control strategy is developed to mitigate the loop interactions and limitations in optimizing control gains between the heave and pitch with roll motions. The inner loop called ride control uses a Mamdani interval type-2 (IT2) fuzzy logic control (FLC) to accommodate the system uncertainties and nonlinearities. Semi-active type voice-oil-actuated electrohydraulic (EH) dampers are used to provide controlled damping to suspension systems. The algorithm is deployed in a microcontroller-based hardware, and its performance is tested outdoor for bumpy road conditions at different speeds. A realistic model of the large van in CarSim is also used to investigate the robustness and reliability of the controller in roll-dominated terrains. The proposed fuzzy S-SAS (FS-SAS) is compared with standard S-SAS and passive suspension system for different road inputs. For instance, the outdoor test results on a bumpy road at 5 km/h speed show heave acceleration and roll rate reduction by 53.85% and 51.23% against the passive suspension. The simulation and experimental results indicate the capability of FS-SAS in achieving superior ride comfort, good roll stability, better road-holding, and avoiding the possibility of an untripped vehicle rollover.
Rajasekharan Unnithan, Anand Raj, Subramaniam, Senthilkumar
Optimum Response of a Nonlinear Passive Vehicle Suspension System under Random Road Excitations02-16-01-00047/7/2022
The objective of the present article is to design a nonlinear passive suspension system for an automobile subjected to random road excitation which generates a performance as close to a fully active suspension system as possible. Linear Quadratic Regulator (LQR) control is used to synthesize an active suspension system. The control forces corresponding to the nonlinear passive suspension and the active suspension are equated, and the parameters are optimized as the performance error between the two systems is reduced. The nonlinear equations of motion are reduced to equivalent linear equations, where the system states are a function of the vehicle response statistics, by using the equivalent linearization method. The performance of the optimized nonlinear model and the linear model are compared with the performance of the LQR control active suspension system. The nonlinear model performs better than the linear system with chosen parameters. The optimized system achieves almost an equal response to the active suspension system for ride comfort and road holding over the specified velocity range. The optimum response of a passive suspension system with nonlinear suspension elements is achieved using a novel optimization method. This method provides design flexibility, and it has great engineering importance for application in the design of various vibration control devices.
Satyanarayana, V. S. V., Sharma, Rakesh Chandmal, Sateesh, B., Gopala Rao, L. V. V., Mohan Rao, N., Palli, Srihari
Interval Type-2 Fuzzy Control System Integrated with Neural Network-Predictive Control for Air Suspension System to Improve Both Ride and Braking Characteristics2022-01-50536/24/2022
In this paper, the performance of a controlled air suspension system is integrated with the controlled braking system. In order to improve both ride comfort and dynamic stability, the neural network (NN)-predictive control is designed as a system controller for the air suspension system to minimize vertical, pitch, and roll motions. The rate of controlled force generated by the air suspension system is changed according to external excitation transmitted from road roughness to the vehicle body. PID controller is designed for the antilock braking system (ABS) to improve braking performance. Interval type-2 fuzzy control system (IT-2FCS) is also designed as an integrated controller to generate desired paths for both the NN-predictive controller and PID controller. Desired paths are achieved based on tuned dynamic responses of the vehicle suspension system and the relative skid ratio. Pneumatic suspension system with tuned desired paths is compared with both pneumatic suspension system without tuned and passive suspension system. The influence of the desired path on the controlled air suspension system is described based on the main performance criteria analyzed under bump road in the time domain and random excitation in the frequency domain. The influence of the desired path on the controlled ABS is also described based on reduction of both stopping distance and stopping time with minimized fluctuation of wheel hop under different conditions. The effect of wheel hop on vehicle longitudinal stability is described based on integrated model including the suspension model, magic formula tire model, and ABS model. The simulation results reveal that tuned desired paths of the IT-2FCS for both controlled pneumatic suspension system and controlled braking system are capable of achieveing ride comfort and safety higher than other proposed systems. Also, tire-ground contact point and braking efficiency based on the dynamic tire load as an integrated performance are improved significantly.
Shehata Gad, Ahmed
Semi-Active Control of ISD In-Wheel Motors Suspension with Dynamic Vibration Absorber2022-01-02853/29/2022
Electric vehicles driven by in-wheel-motor have the advantages of compact structure and high transmission efficiency, which is one of the most ideal energy-saving, environmentally friendly, and safe driving forms in the future. However, the addition of the in-wheel-motor significantly increases the unsprung mass of the vehicle, resulting in a decrease in the mass ratio of the vehicle body to the wheel, which will deteriorate the ride comfort and safety of the vehicle. To improve the vibration performance of in-wheel-motor driven vehicles, a semi-active inerter-spring-damper (ISD) suspension with in-wheel-motor (IWM) dynamic vibration absorber (DVA) of the electric wheel is proposed in this paper. Firstly, a structure of in-wheel-motor DVA is proposed, which converts the motor into a dynamic vibration absorber of the wheel to suppress the vibration of the unsprung mass. Secondly, based on a damper-inerter integrated device, a tandem ISD suspension was introduced into the electric vehicle. Then, an improved Sky-Hook (ISH) semi-active controller of ISD suspension is designed. Compared with the passive suspension, the semi-active ISD suspension with DVA proposed can significantly reduce the vibration of the vehicle body in a wide range of frequencies. Meanwhile, the road adhesion of the vehicle is also improved greatly. It can be concluded that the proposed semi-active suspension with DVA can effectively improve the ride comfort of the vehicle driven by in-wheel-motor.
Zhang, Kaidi, Wu, Jinglai, Zhang, Yunqing
Vibration Mitigation of Commercial Vehicle Active Tandem Axle Suspension System02-15-03-00151/24/2022
A tandem axle suspension is an important system to the ride comfort and vehicle stability of and road damage experience from commercial vehicles. This article introduces an investigation into the use of a controlled active tandem axle suspension, which for the first time enables more effective control using two fuzzy logic controllers (FLC). The proposed controllers compute the actuator forces based on system outputs: displacements, velocities, and accelerations of movable parts of tandem axle suspension as inputs to the controllers, in order to achieve better ride comfort and vehicle stability and extend the lifetime of road surface than the conventional passive suspension. A mathematical model of a six-degree-of-freedom (6-DOF) tandem axle suspension system is derived and simulated using Matlab/Simulink software. Control performance criteria such as vertical body acceleration (VBA), front suspension working space (FSWS), rear suspension working space (RSWS), front dynamic tire force (FDTF), and rear dynamic tire force (RDTF) are evaluated through bump and random road excitations to quantify the effectiveness of the proposed controlled active suspension systems. The simulated results indicate that the proposed controllers can provide a significant improvement in ride comfort and vehicle stability and minimize road damage over the passive suspension. The power consumption of the proposed controllers is evaluated and compared for both the front and rear axle. Finally, the designed FLC based on velocity and acceleration offers a superior enhancement of system vibration performance among all investigated suspension systems and needs less power.
Metered, Hassan, Ibrahim, Ibrahim Musaad
Variation in Automotive Shock Absorber Damping Characteristics & Their Effects on Ride Comfort Attribute and Vehicle Yaw Response2021-26-00819/22/2021
In a Passive suspension, a shock absorber generates damping force by pressurizing the oil flow between chambers. Typically, vehicle responds with suspension deflection, which significantly depends on damping forces and suspension velocity. Tuning dampers for various roads and steering input is an iterative balancing process. In any setting, damping force w.r.t velocity is tuned for optimum ride and handling performance. Practically, to achieve a balance between the two is a tedious task as the choices & arrangements of inner parts like piston, port, valve etc., which defines the forces set up [soft / hard] are almost infinite. The objective of this paper is to measure, objectify and evaluate the performance of two such optimum setting in various ride and handling events. A passenger car set up with an optimum soft & hard suspension damping force is studied for various ride and handling sub-attributes and their conflicts are examined in detail from a performance point of view:
Sahoo, Satyaranjan, Reuben, Eric Pranesh De, BAKSHI, Deepak, Krishnan, Hari, Singh, Amardeep
A Preview Type-2 Fuzzy Controller Design for the Semi-active Suspension to Improve Adhesion Characteristics during Braking and Handling2021-01-50696/28/2021
A full vehicle of a preview control semi-active suspension system based on an interval type-2 fuzzy controller design using a magnetorheological (MR) damper to improve ride comfort is investigated in this paper. It is integrated with the force distribution system to obtain the optimal rate of road adhesion during braking and handling. The nonlinear suspension model is derived by considering vertical, pitch, and roll motions. The preview interval type-2 fuzzy technique is designed as a system controller, and it is attached with a Signum function method as a damper controller to turn on the voltage for the MR damper. This voltage is adjusted for each wheel based on the external excitation generated by road roughness in order to enhance ride comfort. To describe the effectiveness and adaptable responses of the preview controlled semi-active system, the performance is compared with both the passive and MR passive suspension systems during time and frequency domains. The mathematical models of full-vehicle suspension systems are solved using MATLAB/Simulink software. The Magic Formula tire model is used to evaluate both longitudinal and lateral forces based on normal load estimated by a suspension system. These forces are adjusted for each wheel based on the distribution control used in the braking system. Simulation results show that the novel semi-active controlled system integrated with the force distribution system used for the braking system can achieve ride comfort with the supporting contact patch significantly according to the investigated factors including tire workload, stopping braking distance, weight transfer, and cornering force.
Shehata Gad, Ahmed
Linear and Nonlinear Analysis of Ride and Stability of a Three-Wheeled Vehicle Subjected to Random and Bump Inputs Using Bond Graph and Simulink Methodology02-15-01-00016/7/2021
Bond graph framework, established with MATLAB/Simulink, has a dual objective: analyze the system using bond graph and develop the system equations in symbolic form. This approach is a combination of the simulation skill of the MATLAB/Simulink and the modelling skill of the bond graph. In this analysis, a nine-degrees-of-freedom (9 DoF) three-wheeled vehicle model integrated with a 5 DoF human subject model is formulated using bond graph methodology and simulated using the Simulink toolbox. The present work is divided into two linear and nonlinear analyses of the dynamic behavior of sprung mass subjected to random and bumps inputs, respectively. The linear analysis evaluates the ride comfort of the vehicle and human subject model under the International Organization for Standardization (ISO) and ISO-2631-1 criterion, and the stability of the vehicle is evaluated through on eigenvalues obtained from a single-order state-space form of differential equations obtained from the Simulink toolbox. The nonlinear analysis excludes the human biodynamic model and evaluates the sprung mass bounce acceleration and displacement response and pitch acceleration response under bump inputs. From the linear analysis, vehicle ride is found to be in the “very uncomfortable” range, and above 74 km/h vehicle is found to be unstable. The nonlinear analysis suggests that a semi-active magnetorheological (MR) damper with a fuzzy logic control policy is superior compared to a conventional passive suspension when the vehicle is subjected to bump inputs. The present work is validated with a comparison between the vehicle sprung mass center vertical-lateral power spectral density (PSD) acceleration response simulated through the Simulink software tool and the same received from field tests.
Sharma, Rakesh Chandmal, Sharma, Sakshi, Sharma, Neeraj, Sharma, Sunil Kumar
Tire-Road Separation Time Reduction by an Adaptive Proportional-Integral-Derivative Controller Utilizing Particle Swarm Optimization Algorithm02-14-04-00335/5/2021
The article examines quarter-car dynamics with the possible separation of its tire from the road. A set of nondimensionalized differential equations has been proposed to minimize the involved parameters. Time and frequency response investigation of the system has been analyzed insightfully considering tire-road separation. To measure the separation of the tire, a time fraction index is defined, indicating the fraction of separation time in a cycle at steady-state conditions. Minimizing the index is assumed as the objective of the optimized system. An actuator is applied to the vehicle suspension in parallel with the mainspring and damper of the suspension. Particle Swarm Optimization (PSO) is used to properly tune a Proportional-Integral-Derivative (PID) controller for the active suspension system excited by a harmonic excitation. To verify the effectiveness of the control proposed, the controlled result compared with a passive suspension system illustrates the design, achieving a more comfortable ride with a significant decrease of the separation time.
Nguyen, Quy Dang, Milani, Sina, Marzbani, Hormoz, Jazar, Reza Nakahie
Investigation of the Interaction between the Vehicle Vertical Vibration and Driveline Torsional Vibration Using A Hydro-Pneumatic Limited Bandwidth Active Suspension System2021-01-07004/6/2021
1 Rear wheel drive vehicles have a long driveline using a propeller shaft with two universal joints. Consequently, in this design usage of universal joints within vehicle driveline is inevitable. However, the angularity of the driveshaft resulting from vertical oscillations of the rear axle causes many torsional and bending fluctuations of the driveline. Unfortunately, most of the previously published research work in this area assume the propeller inclination angle is constant under all operating conditions. As a matter of fact, this assumption is not accurate due to the vehicle body attitudes either in pitch or bounce motions. Where the vehicle vibration due to the suspension flexibility, either passive or active type, exists. Moreover, the relative motion between the body and the wheel make this virtualization is so far from the realty in real ground vehicles In this research work, the hydro-pneumatic limited bandwidth active suspension system with wheelbase preview control is designed to investigate how the active suspension design affects torsional and bending fluctuations of the driveline in comparison with passive suspension. Accordingly, a half car mathematical model with four degrees of freedom ride vibration coupled with the driveline torsional model is constructed and used for these investigations. The results are generated with two control strategies for the limited bandwidth active suspension, the first one emphasizes on ride comfort and the other emphasizes road holding parameters. On the other hand, two road excitations are used to test the model. The results showed that the virtualization of driveline angularity constant is not suitable for ground vehicle simulation and design. The suspension system type has a significant effect on torsional and bending fluctuations of the driveline. For the limited bandwidth, active suspension type with wheelbase preview control proposed in this work a significant improvement is achieved, in comparison with conventional passive suspension system, through reducing the interaction between the vehicle body vertical vibration and driveline torsional vibration.
Aly, Mahmoud Atef, Awad, Eid Ouda
Performance of a Vehicle on Crawles on Irregular Land With Suspensions Equipped With Magnetorreological Shock Absorbers2020-36-01453/26/2021
The suspension system of a vehicle has the main objective of dampening the transmission of irregularities in the terrain to the chassis. This is necessary to preserve the vehicle's internal components and to ensure greater comfort for the occupants of the car. For that, several studies were carried out in the area, proposing modifications in the passive and active suspensions, resulting in a greater dynamic stability of the vehicle. In military vehicles, the importance of these studies grows as they have larger dimensions and a greater mass, making damping more difficult. Analyzing this damping will be the basis for analyzing of this paper. Whose main analysis tool will be the improvement in performance by replacing the traditional passive suspension by a magnetorhelogic active suspension. For this, a MATLAB / Simulink model will be used by means of a block diagram.
de Miranda, Matheus, Costa Neto, Ricardo Teixeira da
Vertical and Longitudinal Coupling Control Approach for Semi-active Suspension System Using Mechanical Hardware-in-the-Loop Simulation10-05-02-00103/12/2021
When the vehicle is under braking condition in the longitudinal motion, the vehicle body will tilt due to the inertial force in motion. A high amplitude will result in uncomfortable feelings of the occupant, such as nervousness or dizziness. To solve the problem, this article presents an adaptive damping system (ADS), which combines the vehicle anti-pitch compensation control with the mixed skyhook (SH) and acceleration-driven-damper (ADD) control algorithm. This ADS can not only improve the vibration effect of the vertical motion for the vehicle but also consider the longitudinal motion of the vehicle body. In addition, a new damper mechanical hardware-in-the-loop test bench is built to verify the effectiveness of the algorithm. Compared with passive suspension, the vertical acceleration amplitude of the center of gravity (COG) of this algorithm can be decreased by 21.16% and 13.21% on average at different speeds on B-class road and C-class road, and the amplitude of pitch angle variation can be dropped by 28.82% on average at different decelerations with little change in the longitudinal acceleration of the COG. The waveform road is established to verify the effectiveness of the proposed algorithm for the vertical and longitudinal coupling motion. Compared with passive suspension and SH, the vertical acceleration amplitude of the COG can be reduced by 18.87% and 12.58% on average at different speeds on a waveform road, and the amplitude of vehicle pitch angle variation can also be decreased in different time periods under little difference for the longitudinal acceleration of the COG. The new test bench can verify the effectiveness of the control algorithm under the condition of no real vehicle, which enriches the test methods of algorithm development for a semi-active suspension vehicle and shortens the project development period.
Zhu, Yugang, Bian, Xueliang, Chen, Daliang, Su, Lili, Li, Fei, Shi, Yan, Jin, Tianshi
Ride Comfort Improvement with Preview Control Semi-active Suspension System Based on Supervised Deep Learning10-05-01-00032/4/2021
As known to all, it is a challenging task to solve the delay of a controllable suspension system under the transient road. Thus, how to effectively and low-costly acquire road information and choose the reasonable control algorithm remains a hot topic in both academia and industry. With the rapid development and extensive application of the advanced intelligent driving system, a large number of sensors, such as cameras, have been installed on the vehicle, and deep learning technology has also been widely used to identify lane recognition, traffic direction signal, and pedestrian detection, but rarely used in semi-active suspension control. To address the above issues, a novel skyhook preview control (SPC) approach, which combines supervised deep learning, is proposed in the article. Firstly, a full vehicle dynamics model for semi-active suspension is established. Secondly, supervised deep learning (YOLOv3) is adopted to identify the transient road to preview the semi-active suspension. Finally, by comparing the vehicle road test results of the SPC with that of the skyhook wheelbase preview controller (SWPC), the skyhook controller (SC), and the passive suspension (PS), it is concluded that the designed algorithm can effectively improve the ride comfort of the vehicle.
Zhu, Yugang, Bian, Xueliang, Su, Lili, Gu, Cansong, Wang, Zhenfeng, Shi, Chenlu
Evaluation of Ride Performance through a Comparative Study of Switchable Damper and Active Suspension by Using Fuzzy and Linear Quadratic Regulator Controller’s Strategies10-05-01-00021/29/2021
In this work, the three-setting switchable damper (SD) is selected because of its cost-effectiveness compared with semi-active (SA) and active suspension systems. The present article aims to compare the control strategies of both Fuzzy Logic Control (FLC) and Linear Quadratic Regulator (LQR) for mechatronic three-setting SD and active suspensions in terms of ride comfort considering the switching dynamics nonlinearities of the SD. A four-degree-of-freedom half-car model is utilized for this study. The switchable inerter (SI) is included in these systems to investigate its effect on the ride performance. A comparison between the active suspension and three-setting SD suspension systems with and without SI is assessed. The optimal parameters for passive suspension are evaluated. Results showed that the fuzzy control strategy gives a better ride comfort than the LQR up to 6.9% and 14% for three-setting SD and active suspension systems, respectively. The SD or active suspension systems with SI using fuzzy control strategy gives a better ride performance compared with the same system without SI. Also, the addition of the SI not only improves the ride comfort but also improves the DTL, which in turn improves the road holding of the vehicle.
Soliman, Aref M. A., Galal, Mahmoud A. H., Mansour, Nader A.
Effect of Semi-active Suspension Controller Design Using Magnetorheological Fluid Damper on Vehicle Traction Performance2020-01-510110/30/2020
In order to achieve the high capability of the ride comfort and regulating the tire slip ratio, a preview of a nonlinear semi-active vibration control suspension system using a magnetorheological (MR) fluid damper is integrated with traction control in this paper. A controlled semi-active suspension system, which consists of the system controller and damper controller, was used to develop ride comfort, while the traction controller is utilized to reduce a generated slip between the vehicle speed and rotational rate of the tire. Both Fractional-Order Filtered Proportional-Integral-Derivative ( P¯IλDμ) and Fuzzy Logic connected either series or parallel with P¯IλDμ are designed as various methodologies of a system controller to generate optimal tracking of the desired damping force. The signum function method is modified as a damper controller to calculate an applied input voltage to the MR damper coil based on both preview signals and the desired damping force tracking. The fuzzy self-organizing mechanism is utilized for designing the electronic control unit of a traction control system (TCS) to adapt the tire torque produced from the powertrain based on the ratio of tire brake torque and the normal tire torque generated by controlling the MR damper. Suspension dynamics criteria described by the two degrees-of-freedom (2-DOF) ride model are used to compare between the passive suspension system and four types of control techniques applied in the semi-active suspension system during both time and frequency domains. The simulation results show that the MR semi-active suspension system using optimal preview Fuzzy- P¯IλDμ controller synchronizing with a fuzzy self-organizing mechanism can achieve optimal capabilities for both ride comfort and traction stability.
Gad, Ahmed Shehata, Mohamed, Eid S., El-Demerdash, Samir M.
Ride Comfort, Road Holding, and Energy Harvesting of a Hydraulic Regenerative Vehicle Suspension06-13-03-001310/7/2020
This article presents the suspension performance and the energy harvesting capabilities of a hydraulic regenerative suspension system. A regenerative shock absorber is designed based on a hydraulic transmission mechanism. The proposed regenerative shock absorber is implemented in a quarter-car model to replace the conventional passive damper. The nonlinear damping force of the regenerative shock absorber, which depends on the pressure in the shock absorber chambers, is derived. Using the continuity equation and Kirchhoff’s law, the flow of oil through the valves is described including the oil compressibility. The variation of the check valve opening as a function of pressure difference is also considered in the mathematical modeling. The amount of the harvested power and the efficiency of the regenerative system are introduced to assess the effectiveness of the new suspension system compared to the traditional passive suspension system. Suspension performance indices such as ride comfort and road holding are evaluated for the regenerative suspension to be compared with the performance of the conventional passive suspension system at different speeds. After this, the performance of the regenerative suspension system is studied at different roads with different roughness. The effect of the regenerative shock absorber size on both the suspension performance and the energy harvesting is introduced. The sensitivity of the suspension system to the variation of the external resistance of the regenerative shock absorber is proved. Results showed that the regenerative shock absorber could play a vital role in improving the suspension performance by increasing the ride comfort and improving the road holding in addition to the ability to harvest a portion of the wasted energy in the suspension system.
Samn, Anas A., Abdelhaleem, A.M.M., Kabeel, Abdallah M., Gad, Emil H.
Preview Model Predictive Control Controller for Magnetorheological Damper of Semi-Active Suspension to Improve Both Ride and Handling10-04-03-00219/23/2020
This article presents a semi-active vibration control suspension system using a preview Model Predictive Control (MPC) linked with a magnetorheological (MR) damper to improve vehicle stability during handling dynamics, consequently confidently achieving both maneuverability and lateral dynamic motion. The mathematical model (4DOF) described by bounce and pitch motions for sprung mass and two bounce motions for the un-sprung masses, which consists of a preview half-vehicle suspension system and MR dampers at the front and rear axles, is derived. A nonpreview case of the linear quadratic regulator (LQR), a preview case of the LQR, and a preview case of the MPC as alternative methods are applied to design the system controller in combination with a signum function method as a damper controller for both the front and rear MR dampers. The vehicle handling model based on the look-ahead distance of the road, which includes yaw and lateral motions, is linked with the driver model. Magic Formula is used to describe the performance of nonlinearity tire models at the front and rear axles. Suspension systems, which are described either by the passive model or by MR semi-active suspension model, are integrated with the handling model to examine the influence of vertical vibration control on the vehicle lateral stability. The MR semi-active vehicle suspension based on the mentioned control strategies is compared with a passive suspension system under road bump and random road excitations to analyze the vehicle dynamics criteria during both time domain and frequency domain. Simulation results confirm that the case of a semi-active MR suspension system incorporating the preview case MPC controller can offer significant prosperity for both ride comfort and vehicle stability compared with other proposed cases of vibration control.
Shehata Gad, Ahmed
Second-Order Sliding Mode Controller for Performance Analysis of Quarter Car Magnetorheological Suspension System2020-01-10054/14/2020
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 modelled in Matlab/Simulink software and the simulations are carried out based on random road disturbances. The results show that there is a significant improvement in the second-order sliding mode controller semiactive MR suspension system compared with an uncontrolled passive suspension system. The robustness of the system is verified by analyzing it with mass uncertainties. Selected second-order sliding mode controller is validated by comparing it with a conventional sliding mode controller. The results depict a significant improvement in the performance of suspension system because of the application of the super twisting algorithm, second-order sliding mode controller.
Soosairaj, Arockia Suthan, K, Arunachalam
Investigating Performance of Quarter-Car Semi-Active Suspension with Skyhook, Fuzzy Logic, Adaptive Neuro-Fuzzy Inference System Control Strategies for ISO-Classified Road Disturbance2020-01-50404/14/2020
In this paper, a quarter-car suspension system has been investigated for the International Organization for Standardization (ISO)-classified road profile with various control strategies. The vehicle suspension system provides ride comfort and handling by reducing the transfer of road disturbances or irregular road profile to the passenger and cargo materials. The suspension also retains the road and tire contact, stabilizing the vehicle’s movements. A combination of fuzzy logic and neural network, i.e., adaptive neuro-fuzzy inference system (ANFIS), is deployed as a control strategy to control the quarter-car semi-active suspension model. Quarter-car suspension models with a passive control and semi-active controller with different control strategies, viz., Skyhook, Fuzzy Logic (FLC), and ANFIS, are designed and modeled in MATLAB/SIMULINK®. Numerical simulations were performed on developed quarter-car models for an ISO-classified road profile disturbance, and the performance was compared. With respect to the passive suspension system, there is better ride comfort performance (9.7%) with skyhook control, but a compromise in handling, while FLC achieves both ride comfort (4%) and handling (6.12%), reducing the trade-off between both performances. This suspension performance is better achieved by the ANFIS ride comfort (54.57%) and handling (20.57%) with respect to (wrt) the passive suspension system. The comparative implementation of the above control strategies concludes better suspension by the ANFIS of the vehicle to the ISO-classified road disturbance than those other control strategies.
Mulla, Ansar Allauddin, Unune, Deepak Rajendra
Integrated Model Predictive Control and Adaptive Unscented Kalman Filter for Semi-Active Suspension System Based on Road Classification2020-01-09994/14/2020
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 process, the methods of observer-based and model predictive control are used to design the optimal predictive controller under various road excitations. Finally, compared with passive suspension system, the constrained optimal control (COC) algorithm and the model predictive control (MPC) algorithm, the road handing and ride comfort indexes are analyzed. Simulation results show that the performance of the proposed model predictive control algorithm compared with passive mode for the semi-suspension system improves more than 10% under the same road excitation condition.
Wang, Zhenfeng, Xu, Shengjie, Li, Fei, Wang, Xinyu, Yang, Jiansen, Miao, Jing
Minimizing Power Consumption of Fully Active Vehicle Suspension System Using Combined Multi-Objective Particle Swarm Optimization2019-01-50777/16/2019
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 comfort and road holding, and reduction of actuator power consumption.
Elsawaf, Ahmed, Metered, H., Abdelhamid, A.
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