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A cascade control approach to active suspension using pneumatic actuators
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).ORCID iD: 0000-0002-1857-2301
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).ORCID iD: 0000-0001-5703-5923
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. KTH, School of Electrical Engineering and Computer Science (EECS), Electronics.ORCID iD: 0000-0002-6182-9299
2019 (English)In: Asian journal of control, ISSN 1561-8625, E-ISSN 1561-8625, p. 1-19Article in journal (Refereed) Published
Abstract [en]

Operators of forest machinery suffer from intensive whole body vibrations, which are big threats to their health. Therefore, it is important to investigate effective seat undercarriages and control methods for vibration reduction. This paper addresses the control problem of a novel seat undercarriage with pneu-matic actuators customized for forest machinery. A two-layer cascade controlstructure is developed, where the top layer consists of a group of proportional controllers to regulate the position of pneumatic actuators and the bottom layeris a sliding mode controller for force and stiffness tracking. The advantage ofthe sliding mode control is to achieve robust control performance with coarse system models. The paper demonstrates that the proposed control structure is better than a traditional PID controller. The robust stability of the sliding mode controller is proved by the Lyapunov's method. Experiments show its capability of reducing at least 20% amplitude of seat vibrations from 0.5 to 1 Hz.

Place, publisher, year, edition, pages
Wiley , 2019. p. 1-19
Keywords [en]
active suspension, Lyapunov stability, pneumatic actuators, sliding mode control (SMC)
National Category
Fluid Mechanics and Acoustics
Research subject
Machine Design
Identifiers
URN: urn:nbn:se:kth:diva-241135DOI: 10.1002/asjc.2028ISI: 000462064800007Scopus ID: 2-s2.0-85059694675OAI: oai:DiVA.org:kth-241135DiVA, id: diva2:1278159
Funder
XPRES - Initiative for excellence in production research
Note

QC 20190118

Available from: 2019-01-12 Created: 2019-01-12 Last updated: 2019-04-23Bibliographically approved

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Li, YuchaoFeng, LeiWang, Yu

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