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Nonlinear vibration semi-active control of automotive steering using magneto-rheological damper

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Abstract

Traffic accidents are often caused by vibration of automotive steering because the vibration can make a vehicle run like a snake. A novel semi-active vibration control strategy of automotive steering with magneto-rheological (MR) damper is proposed in this paper. An adaptive RBF neural sliding mode controller is designed for the vibration system. It is showed that an equivalent dynamic model for the vibration system is established by using Lagrange method, and then treats it as actual system partially. A feedback control law is designed to make this nominal model stable. Uncertain part of system and outside disturbance are estimated using RBF neural network, and their upper boundary is obtained automatically. By constructing reasonable switch function, state variables can arrive at origin asymptotically along the sliding mode. Strong robust character of control system is proved by stability analysis and a numerical simulation example is performed to support this control scheme.

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Authors and Affiliations

  1. College of Mechanical and Electric Engineering, Northwest A & F University, Yangling, Shaanxi, 712100, People’s Republic of China

    Wang Wei & Song Yuling

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  1. Wang Wei
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  2. Song Yuling
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Correspondence to Wang Wei.

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Support by Doctor Fund 2010BSJJ016 and Basic Scientific Research Cost QN2011141 of Northwest A & F University.

Appendix: Coefficients expression in Eq. (7) and main simulation parameters of nominal model

Appendix: Coefficients expression in Eq. (7) and main simulation parameters of nominal model

Coefficients of Eq. (7) are written as bellow

Main simulation parameters of nominal model used by numerical analysis are given as follows J 1=J 2=15(kg m2/rad), J 3=6 (kg m2/rad), J 4=12 (kg m2/rad), c 1=c 2=50 (N m s/rad), c 3=20 (N m s/rad), c 4=60 (N m s/rad), k 1=k 2=5e004 (N m/rad), k 3=6e004 (Nm/rad), k 4=7e004 (N m/rad), \(c'_{1} = c'_{2} = 20\allowbreak (\mbox{N}\,\mbox{m}\,\mbox{s}/\mbox{rad})\), \(c'_{3} = c'_{4} = 10\ (\mbox{N}\,\mbox{m}\,\mbox{s}/\mbox{rad})\), m 1=m 2=12(kg), τ=0.03 (rad), μ=0.015, r w =0.35 (m), k ⊥=1.2e006 (N/m), L=0.15 (m), ρ=1.5e005 (N/m), k=9e004 (N/rad), D x1=D x2=0.06 (m), k α =1.4149, k β =0.0347.

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Wang, W., Song, Y. Nonlinear vibration semi-active control of automotive steering using magneto-rheological damper. Meccanica 47, 2027–2039 (2012). https://doi.org/10.1007/s11012-012-9572-z

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