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

Thanh-Phong Pham (1, 2) , Olivier Sename (1) , Luc Dugard (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 The university of Danang

This paper proposes a nonlinear parameter varying (N LP V) 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 equiped with the dynamic nonlinear model of ER damper is represented, which captures the main behaviors of the suspension system. The estimation method of the damper force is developed using N LP V observer whose objectives are to minimize the effects of bounded unknown road profile disturbances and measurement noises on the estimation errors in the H ∞ framwork. 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 from GIPSA-lab (1/5-scaled real vehicle). Both simulation and experimental results demonstrate the effectiveness of proposed observer in terms of the ability of estimating the damper force in real-time and againsting measurement noises and road disturbances.

Mots clés: NLPV observer; Damping force estimation; Semi-active suspension; Lipschitz condition

Domaines: Automatique / Robotique

Thanh-Phong Pham, Olivier Sename, Luc Dugard. Real-time Damper Force Estimation of Vehicle Electrorheological Suspension: A NonLinear Parameter Varying Approach. LPVS 2019 - 3rd IFAC Workshop on Linear Parameter Varying Systems, Nov 2019, Eindhoven, Netherlands. ⟨10.1016/j.ifacol.2019.12.354⟩. ⟨hal-02173693⟩