2013
IMAACA 2013 Proceeding
Nonlinear hybrid sliding mode control of an electrohydraulic active suspension
Authors: Bassel Shaer, Jean-Pierre Kenné, Claude Kaddissi, Vladimir Polotski
Abstract
This paper introduces the multi-objective control and modeling of a nonlinear electrohydraulic active suspension. By using a hybrid control algorithm, the objective of tracking a desired force and position was optimized to reach a satisfactory performance. When designing such a controller, a compromise needed to be made between the ride quality and the road handling. The controller structure was built in three stages, in which the sliding mode approach was used to produce the proper control signal that satisfies the requested control objective. The simulation results for position control showed that the controller was able to isolate the passengers from the road irregularities, but with significant transmitted force. In order to reduce the transmitted force to passengers, a force sliding mode controller was developed, but the passengers? vertical motion was unsatisfactory. A hybrid control algorithm was developed to track a desired vertical position and to reduce the transmitted force to the passengers at the same time. The two controllers have been added by two low pass filters with a variable gain to give priority to the force controller to react in the case of high transmitted force. These filters delay the control signals in order to prevent the singularity in simulation. The simulation results show that hybrid sliding mode control achieved a very good compromise between the two objectives without involving complex control strategies.
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