Abstract
The active suspension system is an important equipment that isolates the vibrations that may come from outside in a land vehicle. In heavy vehicles, the active suspension system can be used to dampen vibrations in the driver’s cabin. The electromagnetic actuator is used as an active element in suspension system. Traditionally, the use of active suspension systems is mainly on automobiles and the studies related to heavy vehicles like trucks lack enough interest. In this study, dynamic modeling of a three-axle heavy vehicle cabin is performed with a half-car approach and it is aimed to suppress the disruptive effects coming from the road with active electromagnetic actuators. Lyapunov based backstepping control design is expressed in vectorial form for the heavy vehicle system, which is a multi-input multi-output system. To demonstrate the performance of the designed controller, a comparison has been made for the active and passive states for the truck cabin suspension system. The main feature of the applied control method is that it does not require knowing the actuator parameters, the adaptive term can handle the estimate of the actuator parameter. The stability of the proposed system has been proven via Lyapunov based arguments and given simulation works. The results obtained are important to suppress vibration, consequently, decreases the vibration exposure for truck drivers in terms of occupational health and safety aspects.
Highlights
Driving comfort, handling, and driver and passenger safety can be listed as important aspects of studies related to land vehicle systems
When we look at the literature, there are vibration suspension actuator applications in the seat systems to prevent vibrations encountered by heavy vehicles [38], [39]
In heavy vehicles like trucks, whole-body vibration (WBV) affecting the driver or passenger are neglected in terms of occupational safety, they seriously affect the drivers’ performance
Summary
Driving comfort, handling, and driver and passenger safety can be listed as important aspects of studies related to land vehicle systems. Basaran: Vibration Control of Truck Cabins With the Adaptive Vectorial Backstepping Design control of the suspension system is another type of vibration suspension structure popular in both academic research and industrial applications. The economic impact of the comfort that concerns the driver in the truck is of secondary importance To prevent this situation, Nakano et al have proposed the idea of self-powered active control system to the cabin suspension of a heavy-duty truck [48]. The superior aspects of the electromagnetic actuator like increase in efficiency, improved dynamic behavior, stability improvement, precise force control, and dual operation mode, which are advantageous compared to active elements such as hydraulics and pneumatics, and its application to the suspension system is given in the study of Gysen et al [51]. Notations: In this paper, R denotes the set of real numbers, superscript ‘‘Rn’’ denotes the n-dimensional space, boldface capital letters represent the matrices, eye(·) represents the identity matrix, diag {· · · } represents the diagonal matrix, the transpose of the matrix A is denoted by AT , and, the first and second derivatives are denoted by superscripts ‘‘.’’ and ‘‘..’’ respectively
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