PHAM, Thanh-Phong (Univ. Grenoble Alpes (GIPSA-lab)), Sename, Olivier (Grenoble Institute of Technology / GIPSA-Lab), Dugard, Luc (Gipsa-lab, CNRS Grenoble-INP-Université Grenoble Alpes)

Design and Experimental Validation of an Hinf Observer for Vehicle Damper Force Estimation

Scheduled for presentation during the Invited Session "Vehicle Suspension Control II" (ThBT3), Thursday, June 27, 2019, 11:50−12:10, Chamerolles

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

The real-time estimation of damper force is crucial for control and diagnosis of suspension systems in road vehicles. In this study, we consider a semi-active electrorheological (ER) suspension system. First, a nonlinear quarter-car model is proposed that takes the nonlinear and dynamical characteristics of the semi-active damper into account. The estimation of the damper force is developed through an Hinf observer whose objectives are to minimize the eects of bounded unknown road prole disturbances and measurement noises on the estimation errors of the state variables and nonlinearity through a Lipschitz assumption. The considered measured variables, used as inputs for the observer design, are the two accelerometers data from the sprung mass and the unsprung mass of the quarter-car system, respectively. Finally, the observer performances are assessed experimentally using the INOVE platform from GIPSAlab (1/5-scaled real vehicle). Both simulation and experimental results emphasize the robustness of the estimation method against measurement noises and road disturbances, showing the effectiveness in the ability of estimating the damper force in real-time.