{"title":"Design and experimental validation of an asynchronous observer for CDC semi-active suspensions","authors":"Qing Yuan , Hongliang Zhou , Songlin Chen , Weiwei Miao , Zhen Yu","doi":"10.1016/j.conengprac.2025.106471","DOIUrl":null,"url":null,"abstract":"<div><div>This paper presents an asynchronous observer for estimating the vibration states in continuous damping control (CDC) semi-active suspension systems, using acceleration data from both sprung and unsprung masses. Load transfer exerted on the suspension due to variations in vehicle speed is treated as an external input to the system, compensating for inaccuracies in the quarter-car suspension model under variable speed conditions. Using deflection velocity as a switching signal, a piecewise affine (PWA) model of the CDC suspension system is developed to describe the nonlinear behavior of the damper. Given that the deflection velocity signal is typically not directly measurable in engineering applications and can only be obtained inaccurately through signal processing of existing sensor data, an asynchronous observer is designed based on the given system model. This observer ensures both stability and precision of estimation, particularly when the observer and the system reside in different partitions due to discrepancies in acquiring deflection velocity signal. Experimental results indicate that the proposed observer significantly enhances the estimation accuracy, with maximum root mean square error of 0.00592 m for suspension deflection, 0.11889 m/s and 0.10646 m/s for sprung and unsprung mass velocities, and 0.00168 m for tire deflection.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106471"},"PeriodicalIF":5.4000,"publicationDate":"2025-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066125002333","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents an asynchronous observer for estimating the vibration states in continuous damping control (CDC) semi-active suspension systems, using acceleration data from both sprung and unsprung masses. Load transfer exerted on the suspension due to variations in vehicle speed is treated as an external input to the system, compensating for inaccuracies in the quarter-car suspension model under variable speed conditions. Using deflection velocity as a switching signal, a piecewise affine (PWA) model of the CDC suspension system is developed to describe the nonlinear behavior of the damper. Given that the deflection velocity signal is typically not directly measurable in engineering applications and can only be obtained inaccurately through signal processing of existing sensor data, an asynchronous observer is designed based on the given system model. This observer ensures both stability and precision of estimation, particularly when the observer and the system reside in different partitions due to discrepancies in acquiring deflection velocity signal. Experimental results indicate that the proposed observer significantly enhances the estimation accuracy, with maximum root mean square error of 0.00592 m for suspension deflection, 0.11889 m/s and 0.10646 m/s for sprung and unsprung mass velocities, and 0.00168 m for tire deflection.
期刊介绍:
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.