Purpose

This paper presents a back-stepping sliding mode control method for vehicle suspension system with magnetorheological damper to obtain both the true nominal optimal suspension performance and better robustness. Through the study of control method, the acceleration of sprung mass is reduced, that is, the vertical vibration of vehicle is suppressed.

Methods

A back-stepping sliding mode controller based on the establishment of the quarter-body MR suspension dynamic model, and it used the approximate skyhook-damping system as the reference model. The error dynamic equation is obtained through the MR suspension model and the reference model, and the error dynamic component is used as the back-stepping control parameter. On the premise of ensuring the system is asymptotically stable, adding the sliding mode surface to the dynamic equation of the third error subsystem can complete design of the back-stepping sliding mode controller. By constructing a magnetorheological damper experimental platform and then collecting the measured data, the improving hyperbolic tangent model of MR damper is presented. Furthermore, the Particle Swarm Optimization (PSO) method is proposed to find the improving hyperbolic tangent model’s optimal parameters to get the MR damper models.

Results

The proposed semi-active suspension control system is rigorously proven to be input-to-state stable by virtue of Lyapunov stability theory. Through the simulation and experimental verification, it is proved that back-stepping sliding mode controller can reduce the acceleration of the sprung mass, that is, suppress the vertical vibration of the vehicle. At the same time, it is proved that the forward and inverse model of MR damper is effective, and can be applied to the hardware in the loop control experiment.

Conclusion

The back-stepping sliding mode proposed in this paper is better than the seat suspension under other control and passive systems, which proves that the back-stepping sliding mode controller is effective. It also shows that the forward and inverse model of MR damper is effective.

中文翻译：

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利用磁流变阻尼器抑制汽车座椅振动的反步滑模控制器设计

目的

本文提出了一种具有磁流变阻尼器的车辆悬架系统的反步滑模控制方法，以获得真正的标称最佳悬架性能和更好的鲁棒性。通过控制方法的研究，降低了簧载质量的加速度，即抑制了车辆的垂直振动。

方法

基于四分之一体MR悬架动力学模型建立的反步滑模控制器，以近似天棚阻尼系统为参考模型。通过MR悬架模型和参考模型得到误差动力学方程，并将误差动力学分量作为反步控制参数。在保证系统渐近稳定的前提下，在第三误差子系统的动力学方程中加入滑模面，即可完成反步滑模控制器的设计。通过搭建磁流变阻尼器实验平台，收集实测数据，提出了改进的磁流变阻尼器双曲正切模型。此外，

结果

根据李雅普诺夫稳定性理论，所提出的半主动悬架控制系统被严格证明是输入到状态稳定的。通过仿真和实验验证，证明了反步滑模控制器可以降低簧载质量的加速度，即抑制车辆的垂直振动。同时证明了MR阻尼器的正逆模型是有效的，可以应用于环控实验中的硬件。

结论

本文提出的后推滑模优于其他控制和被动系统下的座椅悬架，证明后推滑模控制器是有效的。这也表明MR阻尼器的正反模型是有效的。