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Nonstandard Backstep** Based Integral Sliding Mode Control of Hydraulically Actuated Active Suspension System

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Abstract

In this paper, the integral sliding mode control (ISMC) with non-standard backstep** is utilized for designing an automotive active suspension system hydraulic actuator. The main objective of this design is to make the suspension system’s ride more comfortable while kee** the road holding and rattling space within safe bounded limits. The controller design consists of applying the ISMC to perform a virtual control force, that meets all suspension requirements, besides utilizing a hydraulic model by a non-standard backstep** control algorithm taking into consideration the uncertainty and nonlinearity of the hydraulic system. The main advantage of ISMC is to have a robust controller, such that the stability of the system appears from starting its states at the switching surface where system nonlinearity, parameter changes, and road disturbances are rejected by a discontinuous control term present strongly in the suspension dynamics. This work demonstrates the effectiveness of the present controller design through the simulation of a 2-DOF quarter car system equipped with a passive suspension. The results vividly showcase how the current design enhances the overall performance of the system.

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Abbreviations

m s :

sprung mass, kg

m us :

unsprung mass, kg

k 1 :

spring coefficient of the sprung unit, N/m

k 2 :

spring coefficient of the unsprung unit, N/m

c 1 :

sprung mass dam** coefficient, N·s/m

c 2 :

unsprung mass dam** coefficient, N·s/m

v :

virtual control force, N

x r :

road vertical displacement, m

x s :

sprung mass displacement, m

x us :

unsprung mass displacement, m

F h :

hydraulic force, N

A:

piston area, m2

P l :

load pressure of the actuator, N/m2

Q 1 :

flow rate to the forward chambers, m3/s

Q 2 :

flow rate from the return chamber, m3/s

V in :

input voltage, volt

s:

sprung

us:

unsprung

1:

sprung mass parameter

2:

unsprung mass parameter

n:

nominal

d:

discontinues

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Acknowledgement

The first author wishes to give his sincere gratitude to Al-Mustaqbal University College for their support during preparing this research. The authors are indebted to the Mechanical Engineering Department at the University of Technology- Iraq for their assistance, support, and providing their facilities during performing this work.

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Authors and Affiliations

  1. Biomedical Engineering Department, Al-Mustaqbal University College, 51001, Hillah, Babylon, Iraq

    Mujtaba A. Flayyih

  2. Department of Mechanical Engineering, University of Al-Qadisiyah, 58001, Al-Qadisiyah, Iraq

    Mujtaba A. Flayyih

  3. Mechanical Engineering Department, University of Technology, 10066, Baghdad, Iraq

    Mohsin N. Hamzah & Jafar M. Hassan

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  1. Mujtaba A. Flayyih
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  2. Mohsin N. Hamzah
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  3. Jafar M. Hassan
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Correspondence to Mohsin N. Hamzah.

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Flayyih, M.A., Hamzah, M.N. & Hassan, J.M. Nonstandard Backstep** Based Integral Sliding Mode Control of Hydraulically Actuated Active Suspension System. Int.J Automot. Technol. 24, 1665–1673 (2023). https://doi.org/10.1007/s12239-023-0134-2

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