Abstract
The article is dedicated to the control of magnetorheological dampers (MR) included in a semi-active suspension of an all-terrain vehicle moving along a rough road profile. The simulation results of a half-car model and selected feedback vibration control algorithms are presented and analysed with respect to the improvement of driving safety features, such as road holding and vehicle handling. Constant control currents correspond to the passive suspension of different damping parameters. Independent Skyhook control of suspension parts represents the robust and widely used semi-active algorithm. Furthermore, its extension allows for the control of vehicle body heave and pitch vibration modes. Tests of the algorithms are carried out for a vehicle model that is synthesised with particular emphasis on mapping different phenomena occurring in a moving vehicle. The coupling of the vehicle to the road and environment is described by non-linear tire-road friction, rolling resistance, and aerodynamic drag. The pitching behaviour of the vehicle body, as well as the deflection of the suspension, is described by a suspension sub-model that exhibits four degrees of freedom. Further, three degrees of freedom of the complete model describe longitudinal movement of the vehicle and angular motion of its wheels. The MR damper model that is based on hyperbolic tangent function is favoured for describing the key phenomena of the MR damper behaviour, including non-linear shape and force saturation that are represented by force-velocity characteristics. The applied simulation environment is used for the evaluation of different semi-active control algorithms supported by an inverse MR damper model. The vehicle model is subjected to vibration excitation that is induced by road irregularities and road manoeuvres, such as accelerating and braking. The implemented control algorithms and different configurations of passive suspension are compared while using driving-safety-related quality indices.
Highlights
The driving safety of road and off-road vehicles is the key feature that allows for safe and reliable transportation of passengers and different types of loads
Three suspension settings were tested, i.e., magnetorheological dampers (MR) dampers controlled with constant current, Skyhook control of the separate suspension parts, or vehicle body dynamics
The paper is dedicated to the analysis of driving safety for a vehicle model
Summary
The driving safety of road and off-road vehicles is the key feature that allows for safe and reliable transportation of passengers and different types of loads. Driving safety is a broad concept; here, it mainly refers to road holding and vehicle handling varying with respect to different configurations of vehicle suspension. Road holding describes the ability of the vehicle to track the desired road trajectory and it can be influenced by different factors. Each tire and vehicle exhibits its optimized window of tire inflation, or tire deflection, which has a similar, but opposite, effect. Studies on inflation of tire were discussed in [1,2], where the typical deformation of underinflated tire was presented. Further analysis of non-uniform contact stress distribution for over and underinflated tire was presented in [3]
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