Design and experimental validation of an asynchronous observer for CDC semi-active suspensions

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-07-05 DOI:10.1016/j.conengprac.2025.106471

Qing Yuan , Hongliang Zhou , Songlin Chen , Weiwei Miao , Zhen Yu

{"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.

查看原文本刊更多论文

CDC半主动悬架异步观测器的设计与实验验证

本文提出了一种异步观测器，用于估计连续阻尼控制（CDC）半主动悬架系统的振动状态，该观测器使用了簧载和非簧载质量的加速度数据。由于车速变化而施加在悬架上的负载传递被视为系统的外部输入，以补偿变速条件下四分之一车悬架模型的不准确性。以偏转速度作为切换信号，建立了CDC悬架系统的分段仿射（PWA）模型来描述阻尼器的非线性行为。鉴于挠度速度信号在工程应用中一般无法直接测量，只能通过对现有传感器数据进行信号处理才能获得不准确的测量结果，基于给定的系统模型设计了异步观测器。这种观测器确保了估计的稳定性和精度，特别是当观测器和系统由于获取偏转速度信号的差异而驻留在不同的分区时。实验结果表明，该观测器显著提高了估计精度，悬架挠度的最大均方根误差为0.00592 m，簧载和非簧载质量速度的最大均方根误差分别为0.11889 m/s和0.10646 m/s，轮胎挠度的最大均方根误差为0.00168 m。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

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.