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Số người truy cập: 73,597,136

 Real-time Damper Force Estimation of Vehicle Electrorheological Suspension: A NonLinear Parameter Varying Approach
Tác giả hoặc Nhóm tác giả: Thanh-Phong Pham, Olivier Sename, Luc Dugard
Nơi đăng: IFAC-PapersOnLine (Publication of International Federation of Automatic Control - Publish on Elsevier); Số: 52(28);Từ->đến trang: 94-99;Năm: 2019
Lĩnh vực: Khoa học công nghệ; Loại: Bài báo khoa học; Thể loại: Quốc tế
TÓM TẮT
This paper proposes a nonlinear parameter varying (NLPV ) observer to estimatein real-time the damper force of an electrorheological (ER) damper in road vehicle suspensionsystem. First, a nonlinear quarter-car model equipped with the dynamic nonlinear model ofER damper is presented, which captures the main behavior of the suspension system. Theestimation method of the damper force is developed using a NLPV observer whose objectivesare to minimize the effects of bounded unknown road pro le disturbances and measurementnoises on the estimation errors in the H∞ framework. Furthermore, the nonlinearity comingfrom damper model (and considered in the observer formulation) is handled through a Lipschitzcondition. The observer inputs are given by two low-cost sensors data (two accelerometers datafrom the sprung mass and the unsprung mass). For performance assessment, the observer isimplemented on the INOVE testbench of GIPSA-lab (1/5-scaled real vehicle). Both simulationand experimental results demonstrate the effectiveness of the proposed observer in terms of theability of estimating the damper force in real-time and of minimizing the effects of measurementnoises and road disturbances.
ABSTRACT
This paper proposes a nonlinear parameter varying (NLPV ) observer to estimatein real-time the damper force of an electrorheological (ER) damper in road vehicle suspensionsystem. First, a nonlinear quarter-car model equipped with the dynamic nonlinear model ofER damper is presented, which captures the main behavior of the suspension system. Theestimation method of the damper force is developed using a NLPV observer whose objectivesare to minimize the effects of bounded unknown road pro le disturbances and measurementnoises on the estimation errors in the H∞ framework. Furthermore, the nonlinearity comingfrom damper model (and considered in the observer formulation) is handled through a Lipschitzcondition. The observer inputs are given by two low-cost sensors data (two accelerometers datafrom the sprung mass and the unsprung mass). For performance assessment, the observer isimplemented on the INOVE testbench of GIPSA-lab (1/5-scaled real vehicle). Both simulationand experimental results demonstrate the effectiveness of the proposed observer in terms of theability of estimating the damper force in real-time and of minimizing the effects of measurementnoises and road disturbances.
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