A Study on Sliding Mode Control for Active Suspension Systems 2020-01-1084
A sliding mode control with a disturbance observer is proposed for suppressing the sprung mass vibration in a quarter-car with double-wishbone active suspension systems (ASSs). The suspension structure containing upper and lower control arms is considered in double-wishbone ASSs. The governing equations of ASSs are obtained by the balance-force analysis of the sprung mass in ASSs. Since ASSs include uncertainties in damping, stiffness, and external disturbance acting on the sprung mass, we design a disturbance observer based on a sliding mode control to estimate these uncertainties under the unknown road excitation. By the Lyapunov minimax approach, the uniform boundedness and the uniform ultimate boundedness for ASSs with the proposed control are proved. The efficacy of the design control is verified through co-simulation of ADAMS software and MATLAB/Simulink software for the road excitation of the step displacement. The sprung mass acceleration of ASSs is obtained with and without the proposed control. The results show that ASSs with the proposed control can yield better riding comfort performance of vibration attenuation of the sprung mass. Furthermore, the effects of external disturbance and control parameter in the disturbance observer on the sprung mass acceleration are investigated.
Wu Qin, Wen-Bin Shangguan, Pu Xu, Huayuan Feng, Yi Sun
South China University of Technology, BYD Auto Co., Ltd.