Implementation of Proportional-Integral-Plus Controller in Vehicle Active Suspension System
[1]
Hassan Metered, Automotive and Tractors Engineering Department, Faculty of Engineering, Helwan University, Cairo, Egypt.
[2]
Abdelfattah Abdelhamid, Design Engineering Department, Faculty of Engineering, Helwan University, Cairo, Egypt.
[3]
Mohamed Abd Elhafiz, Automotive and Tractors Engineering Department, Faculty of Engineering, Helwan University, Cairo, Egypt.
Proportional-integral-plus (PIP) controllers are simple, effective in dealing with nonlinearities and offering a rational extension of traditional proportional-integral/proportional-integral-derivative (PI/PID) techniques, with extra dynamic feedback and input compensators introduced automatically specially when the system is complicated or has considerable time delays. This paper investigates the implementation of a PIP controller based on a non-minimal state space (NMSS) form in a vehicle active suspension system, for the first time, to enhance ride comfort and vehicle stability. The active vehicle suspension system is modeled as a two degrees–of–freedom mechanical system and simulated using Matlab/Simulink software. The performance of the proposed vehicle active suspension system controlled using the PIP is compared to active suspension controlled using proportional-integral-derivative (PID) controller and passive suspension systems. Systems performance criteria are evaluated in time and frequency domains to assess the efficiency of the proposed PIP controller. Theoretical results confirm that the proposed PIP controller of vehicle active suspension system grants a significant enhancement of ride comfort and vehicle stability.
Active Vehicle Suspension System, Quarter Car Model, Proportional-Integral-Plus (PIP) Controller, PID
[1]
Dixon, R., C. James Taylor, and E. M. Shaban. "Comparison of classical and modern control applied to an excavator arm." IFAC Control 2005, 4-8 July (2005).
[2]
Shaban, E., H. Sayed, and A. Abdelhamid, “A novel discrete PID+ controller applied to higher order/time delayed nonlinear systems with practical implementation”. International Journal of Dynamics and Control, 2018: p. 1-13.
[3]
Deepa SN, Sugumaran G. Design of PID controller for higher order continuous systems using MPSO based model formulation technique. International Journal of Electrical and Electronics Engineering. 2011 Aug 29; 5 (4): 289-95.
[4]
Ali H, Wadhwani S. Intelligent PID controller tuning for higher order process system. International Journal of u-and e Service, Science and Technology. 2015; 8 (6): 323-330.
[5]
Gillespie TD, Fundamentals of Vehicle Dynamics, SAE International: 1993.
[6]
El-taweel H., Abd elhafiz M. M., and Metered H., Optimal lumped parameters estimation of vehicle passive suspension system using genetic algorithm, Journal of Advances in Vehicle Engineering, 2018, Vol. 5 No. 1, pp. 34-44.
[7]
Cao, J. Li, P., and Liu, H., An interval fuzzy controller for vehicle active suspension systems. IEEE Transactions on Intelligent Transportation Systems: 11 (4), 885–895, 2010.
[8]
Gao, H., Lam, J., and Wang, C., Multi-objective control of vehicle active suspension systems via load-dependent controllers, Journal of Sound and Vibration: 290 (3-5), 654–675, 2006.
[9]
Hrovat, D., Survey of advanced suspension developments and related optimal control applications, Automatica: 33 (10), 1781–1817, 1997.
[10]
Mohan, B., Modak, J. P., Phadke, S. B., Vibration control of vehicles using model reference adaptive variable structure control. Advances in Vibration Engineering: 2 (4), 343–361, 2003.
[11]
Fialho, I., and Balas, J., Road adaptive active suspension design using linear parameter-varying gain-scheduling. IEEE Transactions on Control Systems Technology: 10 (1), 43–54, 2002.
[12]
Rajamani, R., and Hedrick, J., Adaptive observers for active automotive suspensions: theory and experiment. IEEE Transactions on Control Systems Technology: 3 (1), 86–93, 1995.
[13]
Gao, H., Sun, W., and Shi, P., Robust sampled-data H∞ control for vehicle active suspension systems. IEEE Transactions on Control Systems Technology: 18 (1), 238–245, 2010.
[14]
Metered H., Application of Nonparametric Magnetorheological Damper Model in Vehicle Semi-active Suspension System, SAE Int. J. Passeng. Cars - Mech. Syst: 5 (1), 2012.
[15]
Metered H., and Šika Z., Vibration control of vehicle active suspension using sliding mode under parameters uncertainty, Journal of Traffic and Logistics Engineering: 3 (2), 2015.
[16]
Vaijayanti, S. D., Mohan, B., Shendge, P. D., and Phadke S. B., Disturbance observer based sliding mode control of active suspension systems, Journal of Sound and Vibration: 333 (11), 2281–2296, 2014.
[17]
Emam, A. S., Active Vibration Control of Automotive Suspension System using Fuzzy Logic Algorithm. Int. J. of Vehicle Structures & Systems: 9 (2), 77-82, 2017.
[18]
Emam, A. S., Fuzzy Self Tuning of PID Controller for Active Suspension System, Advances in Powertrains and Automotive: 1 (1), 34-41, 2015.
[19]
El-taweel H., Abd elhafiz M. M., and Metered H., Vibration control of active vehicle suspension system using optimized fuzzy-PID, SAE Technical Paper, 2018-01-1402, 2018.
[20]
Choi, S. B., Choi, Y. T., and Park, D. W., A sliding mode control of a full-car electrorheological suspension system via hardware in-the-loop simulation, Dynamic Systems, Measurement, and Control: Volume: 122, pp 114-121, 2000.
[21]
Michael, A. J., and Mohammad H. M., PID Control: New Identification and Design Methods, Springer-Verlag London Limited: 2005.
[22]
Astrom, K. J. and Wittenmark, B., “Computer Controlled Systems: Theory and Design”. Prentice-Hall Information and System Sciences Series, 1984.
[23]
Rajamani, R., Vehicle dynamics and control, Springer Science and Business Media: New York, 2006.
[24]
Choi, S. B., and Kim, W. K., Vibration control of a semi-active suspension featuring electrorheological fluid dampers, Journal of Sound and Vibration: 234, 537-546, 2000.
[25]
Fischer, D., and Isermann, R., Mechatronic semi-active and active vehicle suspensions, Control Engineering Practice: 12 (11): 1353-1367, 2004.
[26]
Metered, H., Modelling and Control of Magnetorheological Dampers for Vehicle Suspension Systems, PhD Thesis, School of Mechanical, Aerospace and Civil Engineering, The University of Manchester: Manchester, UK. 2010.
