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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2016> 25(1): 49-55
ZHAO Feng, GUAN Ji-fu, GU Liang, LI Yi, LIU Rui, ZHANG Hua. Control algorithm for vehicle height adjustable system of hydro-pneumatic suspension based on LuGre model[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(1): 49-55. doi: 10.15918/j.jbit1004-0579.201625.0108
Citation: ZHAO Feng, GUAN Ji-fu, GU Liang, LI Yi, LIU Rui, ZHANG Hua. Control algorithm for vehicle height adjustable system of hydro-pneumatic suspension based on LuGre model[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(1): 49-55.doi:10.15918/j.jbit1004-0579.201625.0108
shu

Control algorithm for vehicle height adjustable system of hydro-pneumatic suspension based on LuGre model

doi:10.15918/j.jbit1004-0579.201625.0108
  • 1.

    School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    First Machinery Factory of Inner Mongolia, Baotou 014032, China

  • Received Date:2014-09-09
    Abstract
  • In order to control the vehicle body position precisely, 1/4 nonlinear mathematical model of hydro-pneumatic suspension is established, and the influence of the frictional force in a hydraulic cylinder is analyzed. The friction characteristics are described based on the LuGre model when the piston of a hydraulic actuator is operated at a low speed. Due to the fact parameters of the friction model are effected by the system condition, an adaptive friction compensation (AFC) controller is designed through the Backstepping method, and a dual-observer has been implemented to estimate the friction state. The global asymptotic convergence of a closed-loop system is proven by the Lyapunov theorem. The simulation results show that the positional accuracy of the adaptive friction compensation yiedls a significant improvement in the vehicle height adjustment as compared to the PID control, demonstrating the effectiveness of the adaptive fiction compensation method in the vehicle height adjustable system of the hydro-pneumatic suspension.
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    • References (10)
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