Robust H∞ control design of an electromagnetic actuated active suspension considering the structure non-linearity

Abstract

Electromagnetic actuated active suspension (EAAS) benefits energy harvesting while providing active control. However, the inertia of the actuator introduces an equivalent mass coupled with the sprung and unsprung mass. In addition, the specific structure of the suspension features structure non-linearity, which results in the perturbation of the equivalent mass of the actuator, the variation of the transmission ratio of the actuator output torque to the actuator force at the wheel side and an extra force to be compensated with. A dynamic model of active control considering the equivalent mass and the structure non-linearity is proposed. Based on a gearbox type EAAS, respective non-linearity is studied. For multi-objective optimization, a robust controller is designed with proper weighting functions. A virtual prototype of the EAAS is built and simulated with a bump/pothole and random excitation road profiles. Results show that neglecting the structure non-linearity effects influences the accuracy of active control. The investigation of this paper provides a fundamental methodology for the control design of actual applications of EAASs.

Keywords

Active suspension electromagnetic actuator equivalent mass robust control structure non-linearity

Get full access to this article

View all access options for this article.

References

Rojas

AER

Niederkofler

Willberger

. Comfort and safety enhancement of passenger vehicles with in-wheel motors. SAE paper 2010-01-1146, 2010.

Ślaski

Gudra

Borowicz

et al . Analysis of the influence of additional unsprung mass of in-wheel motors on the comfort and safety of a passenger car. Arch Automot Eng 2014; 2014(3): 51–64.

Jones

. Easy ride: Bose Corp. uses speaker technology to give cars adaptive suspension. IEEE Spectr 2005; 42(5): 12–14.

Nakano

Suda

Nakadai

. Self-powered active vibration control using a single electric actuator. J Sound Vib 2003; 260(2): 213–235.

Gupta

Jendrzejczyk

Mulcahy

et al . Design of electromagnetic shock absorbers. Int J Mech Mater Des 2006; 3(3): 285–291.

Gysen

BLJ

Janssen

JLG

Paulides

JJH

et al . Design aspects of an active electromagnetic suspension system for automotive applications. IEEE Trans Ind Appl 2009; 45(5): 1589–1597.

Gysen

BLJ

van der Sande

Paulides

JJH

et al . Efficiency of a regenerative direct-drive electromagnetic active suspension. IEEE Trans Veh Technol 2011; 60(4): 1384–1393.

Beno

Hoogterp

Bresie

et al . Electromechanical suspension for combat vehicles. SAE paper 950775, 1995.

Hayes

Beno

Weeks

et al . Design and testing of an active suspension system for a 2-1/2 ton military truck. SAE paper 2005-01-1715, 2005.

10.

Zhang

. Design of electromagnetic shock absorbers for energy harvesting from vehicle suspensions. Master Thesis, Stony Brook University, USA, 2010.

11.

Huang

Zhang

et al . Energy flow analysis and hybrid controller design for non-linear electromagnetic suspension. Proc IMechE Part D: J Automobile Engineering 2012; 226(2): 169–180.

12.

Yin

Chen

. Performance evaluation of an active and energy regenerative suspension using optimal control. In: 2015 34th Chinese control conference, Hangzhou, China, 28–30 July 2015, pp.8057–8060. IEEE.

13.

van der Sande

Gysen

BLJ

Besselink

IJM

et al . Robust control of an electromagnetic active suspension system: simulations and measurements. Mechatron 2013; 23(2): 204–212.

14.

Kaleemullah

Faris

Hasbullah

. Design of robust H∞, fuzzy and LQR controller for active suspension of a quarter car model. In: IEEE 4th international conference on mechatronics (ICOM), Kuala Lumpur, May 2011, pp.1–6. IEEE.

15.

Huang

Zhang

. Predictive controller design for electromagnetic suspension based on mixed logical dynamical model. J Vib Control 2012; 18(8): 1165–1176.

16.

Yin

Chen

. Investigation of equivalent unsprung mass and nonlinear features of electromagnetic actuated active suspension. Shock Vib 2015; 2015: 1–8.

17.

Rakheja

Wang

et al . Analysis of an ‘on–off’ regenerative electromechanical damper. Proc IMechE Part D: J Automobile Engineering 2013; 227(5): 704–722.

18.

Choi

Seong

Kim

. Vibration control of an electrorheological fluid-based suspension system with an energy regenerative mechanism. Proc IMechE Part D: J Automobile Engineering 2009; 223(4): 459–469.

19.

Nakano

Suda

. Analysis on performances of a self-powered active suspension considering an equivalent inertia mass of an electromagnetic actuator. In: Proceedings of the 11th mini conference on vehicle system dynamics, identification and anomalies, Budapest, Hungary, 10–12 November 2008, pp.653–660. .

20.

Zhang

Cao

Zhang

. Robust controller design for an electromagnetic active suspension subjected to mixed uncertainties. Int J Veh Des 2013; 63(4): 423–449.

21.

Zhang

. Study on robust control for vehicle active electromagnetic suspension. PhD Thesis, Shanghai Jiao Tong University, Shanghai, China, 2012.

22.

D-W

Petkov

Konstantinov

. Robust control design with MATLAB. 1st ed. London: Springer, 2005.

23.

Chen

Zhu

et al . Modeling and simulation on stochastic road surface irregularity based on Matlab/Simulink. Trans Chin Soc Agric Mach 2010; 41(3): 11–15.

24.

ISO 8606. Mechanical vibration–road surface profiles–reporting of measured data. ISO, 1995. .

25.

Lauwerys

Swevers

Sas

. Robust linear control of an active suspension on a quarter car test-rig. Control Eng Pract 2005; 13(5): 577–586.

26.

Hedrick

Butsuen

. Invariant properties of automotive suspensions. Proc IMechE Part D: J Automobile Engineering 1990; 204: 21–27.

27.

Montazeri-Gh

Kavianipour

. Investigation of the active electromagnetic suspension system considering hybrid control strategy. Proc IMechE Part C: J Mechanical Engineering Science 2014; 228(10): 1658–1669.

28.

Villegas

. Road profile effects on the performance and energy regeneration of the electromagnetic suspension system. Proc IMechE Part K: J Multi-body Dynamics 2014; 228(3): 266–281.