Sliding-mode control for semi-active suspension with actuator dynamics

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A sliding-mode controller (SMC) is proposed for semi-active suspensions to achieve ride comfort and handling performance simultaneously. First, a nonlinear quarter-car model of Macpherson strut suspension is established in Matlab/Simulink. Constrained damper force and actuator dynamics are considered for the damper model. System identification is applied to the nonlinear model for obtaining the linear model parameters. Kalman filter is designed based on the linear model and the actuator dynamics to estimate the state responses required for SMC. The sliding surface consists of tyre deflection and sprung mass acceleration. The proposed SMC is evaluated using the nonlinear model for both time and frequency domain responses. Robustness due to the increased sprung mass and deteriorated suspension is also investigated in this paper. Preliminary simulation results show improved ride comfort without sacrificing the road holding performance.

Keywords: Kalman filter; actuator dynamics; semi-active suspension; sliding-mode control

Document Type: Research Article


Affiliations: 1: Vehicle Engineering, National Taipei University of Technology, Taipei, Taiwan, Republic of China 2: Hua-chuang Automobile Information Technical Center Co., Ltd, Taipei, Taiwan, Republic of China

Publication date: January 1, 2011

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