Suppression of heavy-truck driver-seat vibration using sliding-mode control and quantitative feedback theory

Abstract

The current paper presents a robust control method that combines sliding-mode control (SMC) and quantitative feedback theory (QFT) for designing a driver seat of a heavy vehicle to reduce driver fatigue. A mathematical model is considered to analyse tracking control characteristics through computer simulation in order to demonstrate the effectiveness of the proposed control methodology. The SMC is used to track the trajectory of the desired motion behaviour of the seat. However, when the system enters into sliding regime, chattering occurs owing to switching delays as well as vehicle system vibrations. The chattering is eliminated with the introduction QFT inside the boundary layer to ensure smooth tracking. Furthermore, using SMC alone requires higher actuator forces for tracking than using both the control schemes together, and causes various problems in selecting hardware. Problems with noise amplification, resonances, presence of uncertainties, and unmodelled high-frequency dynamics can largely be avoided with the use of QFT over other optimization methods. The main contribution of the present paper is to provide guidance in designing the controller to reduce heavy vehicle seat vibration so that the driver's sensation of comfort maintains a certain level at all times.

Keywords

non-linear modelling sliding surface feedback control tracking error stability time-varying surface boundary layer chattering error dynamics first-order filter model uncertainty

Get full access to this article

View all access options for this article.

References

Wilson

L. J.

Horner

T. W.

Data analysis of tractor-trailer drivers to assess drivers’ perception of heavy duty truck ride quality. Report DOT-HS-805-139. 1979 (National Technical Information Service, Springfield, VA, USA).

Randall

J. M.

Human subjective response to lorry vibration: Implications for farm animal transport

J. Agric. Engng, Res., 1992, 52, 295–307.

Landstrom

Changes in wakefulness during exposure to whole body vibration

Electroencephal, Clin., Neurophysiol., 1985, 61, 411–115.

Altunel

A. O.

The effect of low-tire pressure on the performance of forest products transportation vehicles. Master's thesis, Louisiana State University, School of Forestry, Wildlife and Fisheries, 1996.

Altunel

A. O.

de Hoop

C. F.

The effect of lowered tire pressure on a log truck driver seat, Vol. 9, no. 2, 1998, Louisiana State University Agricultural Center, Baton Rouge, USA.

Mabbott

Foster

McPhee

Heavy vehicle seat vibration and driver fatigue

Report no. CR 203, 2001, p. 35 (Australian Transport Safety Bureau, Canberra City).

Kamenskii

Nosova

I. M.

Effect of whole body vibration on certain indicators of neuro-endocrine processes

Noise Vibration Bull., 1989, 205–206.

Taha

E. Z.

Happawana

G. S.

Hurmuzlu

Quantitative feedback theory (QFT) for chattering reduction and improved tracking in sliding mode control (SMC)

ASME J. Dynamic Systems, Measmnt, Control, 2003, 125, 665–669.

Jean-Jacques

E. S.

Weiping

Applied nonlinear control, 1991 (Prentice-Hall, Englewood Cliffs, New Jersey).

10.

Roberge

J. K.

The mechanical seal. Bachelor's thesis, Massachusetts Institute of Technology, 1960.

11.

Dorf

R. C.

Modern control systems, 1967, pp. 276–279 (Addison-Wesley, Reading, Massachusetts).

12.

Ogata

Modern control engineering, 1970, pp. 277–279 (Prentice-Hall, Englewood Cliffs, New Jersey).

13.

Higdon

D. T.

Cannon

R. H.

On the control of unstable multiple-output mechanical systems. ASME publications 63-WA-48, 1963, pp. 1–12.

14.

Truxal

J. G.

State models, transfer functions, and simulation, monograph 8, Discrete Systems Concept Project, 1965.

15.

Lundberg

K. H.

Roberge

J. K.

Classical dual-inverted-pendulum control. In Proceeding of the IEEE CDC 2003, Maui, Hawaii, 2003, pp. 4399–4404.

16.

Phillips

L. C.

Control of a dual inverted pendulum system using linear-quadratic and H-infinity methods. Master's thesis, Massachusetts Institute of Technology, 1994.

17.

Siebert

W. McC.

Circuits, signals, and systems, 1986 (MIT Press, Cambridge, Massachusetts).

18.

Hedrick

J. K.

Gopalswamy

Nonlinear flight control design via sliding method, Department of Mechanical Engineering, University of California, Berkely, 1989.

19.

Bondarev

A. G.

Bondarev

S. A.

Kostylyova

N. Y.

Utkin

V. I.

Sliding modes in systems with asymptotic state observers

Autom. Remote Control, 1985, 6.

20.

Tabarrok

Tong

Directional stability analysis of logging trucks by a yaw roll model. Technical Reports, University of Victoria, Mechanical Engineering Department, 1993, pp. 57–62.

21.

Esmailzadeh

Tong

Tabarrok

Road vehicle dynamics of log hauling combination trucks. SAE paper 912670, 1990, pp. 453–466.

22.

Tabarrok

Tong

The directional stability analysis of log hauling truck - double doglogger. Technical Reports, University of Victoria, Mechanical Engineering Department, 1992, DSC-Vol. 44, pp. 383–396.

23.

Aksionov

P. V.

Law and criterion for evaluation of optimum power distribution to vehicle wheels

Int. J. Vehicle Des., 2001, 25 (3), 198–202.

24.

Gillespie

T. D.

Fundamentals of vehicle dynamics, 1992 (Society of Automobile Engineers, Warrendale, PA).

25.

Wong

J. Y.

Theory of ground vehicles, 1978 (John Wiley, New York).

26.

Rajapakse

Happawana

G. S.

A nonlinear six degree-of-freedom axle and body combination roll model for heavy trucks’ directional stability. In Proceedings of IMECE2004-61851, ASME International Mechanical Engineering Congress and RD&D Exposition, 13-19 November, Anaheim, California, USA, 2004.

27.

Fialho

Balas

G. J.

Road adaptive active suspension design using linear parameter-varying gain-scheduling

IEEE Trans. Control Systems Technol., 2002, 10 (1), 43–54.