Journal of Guangdong University of Technology ›› 2022, Vol. 39 ›› Issue (05): 29-37.doi: 10.12052/gdutxb.220049

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A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities

Zhang Meng-hua1, Liu Qiang2, Chen Ji-yang3, Lu Quan-li3, Zhang Jian-cheng3   

  1. 1. School of Electrical Engineering, University of Jinan, Jinan 250022, China;
    2. Shaodong Luruan Digital Technology Co., Ltd., Smart Energy Branch, Jinan 250000, China;
    3. Shandong Zhengzhong Information Technology Co., Ltd., Jinan 250014, China
  • Received:2022-03-15 Published:2022-07-18

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Abstract: Through purposely employing beneficial nonlinear stiffness and damping with a constructed bioinspired reference model, a novel saturated PD with sliding mode control method, (referred to as saturated PD-SMC method), is designed for active suspension systems under saturated control input constraints. The designed control method has several distinct benefits, including the simple structure of PD control method, strong robustness of SMC method with respect to model uncertainties and external disturbances, without requirements of exact system parameters associated with traditional SMC method, as well as taking input constraints into consideration. In the designed control method, the PD part is employed to stabilize the controlled active suspension system, the SMC part is applied to provide strong robustness, and the saturation functions are introduced to prevent the violation of control input constraints. The corresponding stability analysis is provided by Lyapunov techniques. Several experimental results show that, the designed control method dramatically improves transient performance in comparison with some existing methods, including decreasing control energy by 30.65% and improving ride comfort, which can achieve a satisfactory trade-off between costs and results for suspension system control.

Key words: active suspension systems, PD-SMC, saturation, bioinspired reference model

CLC Number: 

  • TB122
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