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Real-time Damper Force Estimation of Vehicle Electrorheological Suspension: A NonLinear Parameter Varying Approach ?

机译：车辆电流变悬架的实时阻尼力估计：一种非线性参数变化方法 ？

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摘要

This paper proposes a nonlinear parameter varying(NLPV)observer to estimate in real-time the damper force of an electrorheological (ER) damper in road vehicle suspension system. First, a nonlinear quarter-car model equipped with the dynamic nonlinear model of ER damper is presented, which captures the main behavior of the suspension system. The estimation method of the damper force is developed using aNLPVobserver whose objectives are to minimize the effects of bounded unknown road profile disturbances and measurement noises on the estimation errors in theH∞framework. Furthermore, the nonlinearity coming from damper model (and considered in the observer formulation) is handled through a Lipschitz condition. The observer inputs are given by two low-cost sensors data (two accelerometers data from the sprung mass and the unsprung mass). For performance assessment, the observer is implemented on the INOVE testbench of GIPSA-lab (1/5-scaled real vehicle). Both simulation and experimental results demonstrate the effectiveness of the proposed observer in terms of the ability of estimating the damper force in real-time and of minimizing the effects of measurement noises and road disturbances.
机译：提出了一种非线性参数变化观测器，用于实时估计道路车辆悬架系统中电流变（ER）阻尼器的阻尼力。首先，提出了带有ER阻尼器动态非线性模型的非线性四分之一汽车模型，该模型捕获了悬架系统的主要性能。使用NLPV观测器开发了阻尼力的估算方法，该观测器的目的是最大程度地减少有界未知道路轮廓干扰和测量噪声对H∞框架估算误差的影响。此外，来自阻尼器模型的非线性（在观察者公式中已考虑）通过Lipschitz条件进行处理。观察者的输入由两个低成本的传感器数据提供（来自簧载质量和非簧载质量的两个加速度计数据）。为了进行性能评估，在GIPSA-lab（1/5比例的实车）的INOVE测试台上实施了观察员。仿真和实验结果都证明了拟议的观察者在实时估计阻尼力以及最小化测量噪声和道路干扰影响方面的有效性。

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