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- Title
Augmented Kalman Estimator and Equivalent Replacement Based Taylor Series-LQG Control for a Magnetorheological Semi-Active Suspension.
- Authors
Wang, Juncheng; Zhou, Mingyao; Tong, Jiacheng; Liu, Jinyu; Chen, Shian
- Abstract
This research presents an augmented Kalman estimator and an equivalent replacement-based Taylor series (ERBTS)-linear quadratic Gaussian (LQG) control strategy to cope with the control accuracy and response delay of magnetorheological (MR) dampers for vehicle semi-active suspensions. The parameters in the MR model are identified from experimental measurements. Then, two main sources of control error, namely, modelling error and real-time variety of the MR damper output force, are defined as an integrated compound real-time variety. Subsequently, they are written into a differential equation with characteristics of the minimum system to augment the state equation of the semi-active suspension system. The augmented Kalman estimator is constructed to estimate the abovementioned compound real-time variety. To calculate an acceptable time-delay compensation predictive control force, an equivalent operation is implemented beforehand in the suspension comprehensive performance index by replacing a part of the squared time-delay control force with the corresponding predictive control force. Simulation results verify the effectiveness of the proposed augmented Kalman estimator, and the newly developed ERBTS-LQG controller almost achieves control effectiveness of the ideal time delay free semi-active suspension.
- Subjects
MAGNETORHEOLOGY; MOTOR vehicle springs &; suspension; EQUATIONS of state; DIFFERENTIAL equations; MAGNETORHEOLOGICAL dampers
- Publication
Actuators, 2024, Vol 13, Issue 4, p138
- ISSN
2076-0825
- Publication type
Article
- DOI
10.3390/act13040138