Control algorithm for vehicle height adjustable system of hydro-pneumatic suspension based on LuGre model

In order to control the vehicle body position precisely,1/4 nonlinear mathematical model of hydro-pneumatic suspension is established,and the influence of the frictional force in a hydraulic cylinder is analyzed.The friction characteristics are described based on the LuGre model when the piston of a hydraulic actuator is operated at a low speed.Due to the fact parameters of the friction model are effected by the system condition,an adaptive friction compensation（AFC）controller is designed through the Backstepping method,and a dual-observer has been implemented to estimate the friction state.The global asymptotic convergence of a closed-loop system is proven by the Lyapunov theorem.The simulation results show that the positional accuracy of the adaptive friction compensation yiedls a significant improvement in the vehicle height adjustment as compared to the PID control,demonstrating the effectiveness of the adaptive fiction compensation method in the vehicle height adjustable system of the hydro-pneumatic suspension.

Study on Outboard Inductive Damping Valve in Hydro-pneumatic Suspension

A new outboard inductive damping valve without any electronic control system is developed. Its working principle,structure and external characteristic are studied. Its mathematical model is presented and its damping characteristic is investigated on the basis of fluid continuity equation,differential equations of motion and Bernoulli equation. The influence of the valve parameters on the damping characteristic is studied numerically. The effects of outboard inductive damping valve and common damping valve on ride and tire load are compared also. The external characteristic of the valve is verified in bench test. The results show that the valve’s mathematical model is quite accurate and the developed valve can be adjust in two stages,which can also meet the requirements of the dynamic characteristic of the vehicle suspension system.

Experimental study on wheeled vehicle hydro-pneumatic suspension fault detection

A four-channel MTS road simulation system,which is used to regenerate the acceleration signal at the axle head is presented. A new fault detection method is proposed,which is based on the remote parameter control（ RPC） technology for vehicle hydro-pneumatic suspension system. The transfer function between the drive signals and the axle head acceleration should be identified before the RPC iterative calculation on a computer. By contrasting with the desired frequency response functions（ FRF）,excited through the sample spectrum of road,the iterative convergence speed of the drive function and weighted error are used to detect faults existing in the vehicle＇s suspension. Experimental results show that during the process of regeneration of the acceleration signal at the axle head,the characteristics of failure of the hydro-pneumatic spring are changed randomly resulting in a dramatic increase in calculation of the RPC iterative,which enables relatively large iterative convergence errors. This method can quickly detect and locate a suspension fault and is a simple bench test way in suspension fault detection.

Testing Research of Accumulator Performance in the Hydro-pneumatic Suspension of a Vehicle

Taking a 2.5 liter accumulator with hydro-pneumatic suspension in a CXP1032 crane made in Germany as the research object and taking both the overall-road simulative test-bed and the control equipment made by the Schenck Company of Germany as the testing instrument, the structure performance and mechanism are theoretically clarified and the variation of gas states are obtained. This illustrates the accumulating and releasing process of a 2.5 liter accumulator in a 32t crane in the real condition. The preliminary volume and pressure of accumulator would directly affect the stiffness performance of the hydro-pneumatic suspension in a vehicle.

Control Research of Dual Chamber Hydro-Pneumatic Suspension

Vehicle riding comfort and handling stability are directly affected by suspension performance.A novel dual chamber hydro-pneumatic(DCHP)suspension system is developed in this paper.Based on the structural analysis of the DCHP suspension,an equivalent suspension model is proposed for the control purpose.A cuckoo search(CS)based fuzzy PID controller is proposed for the control of the DCHP suspension system.The proposed controller combines the advantage of fuzzy logic and PID controller,and CS algorithm is used to regulate the membership functions and PID parameters.Compared with tradition LQR controller and passive suspension system,the CSFPID controller can reduce the sprung mass acceleration,and at the same time with no deterioration of tire deflection.

Investigation of Semi-Active Hydro-Pneumatic Suspension for a Heavy Vehicle Based on Electro-Hydraulic Proportional Valve

Hydro-pneumatic suspension is widely used in heavy vehicles due to its nonlinear characteristics of stiffness and damping. However, the conventional passive hydro-pneumatic suspension can’t adjust parameters according to the complicated road environment of heavy vehicles to fulfill the requirements of the vehicle ride comfort. In this paper, a semi-active hydro-pneumatic suspension system based on the electro-hydraulic proportional valve control is proposed, and fuzzy control is used as the control strategy to adjust the?damping force of the semi-active hydro-pneumatic suspension. A 1/4?semi-active hydro-pneumatic suspension model is established, which is co-simulated with AMESim and MATLAB/Simulink. The co-simulation results show that the semi-active hydro-pneumatic suspension system can significantly reduce vibration of the vehicle body, and improve the suspension performance comparing with passive hydro-pneumatic suspension.

Optimization design of the hydro-pneumatic suspension system for high clearance self-propelled sprayer using improved MOPSO algorithm

Large high clearance self-propelled sprayers were widely used in field plant protection due to their high-efficiency operation capabilities.Influenced by the characteristics of field operations such as high power,heavy weight,high ground clearance,and fast operation speed,the comprehensive requirements for the ride comfort,handling stability and road friendliness of the sprayer were increasingly strong.At the present stage,the chassis structure of the high clearance selfpropelled sprayer that attaches great importance to the improvement of comprehensive performance still has the problems of severe bumps,weak handling performance and serious road damage in complex field environments.Therefore,this paper proposes an optimization design method for hydro-pneumatic suspension system of a high clearance self-propelled sprayer based on the improved MOPSO(Multi-Objective Particle Swarm Optimization)algorithm,covering the entire process of configuration design,parameter intelligent optimization,and system verification of the high clearance self-propelled sprayer chassis.Specifically,chassis structure of the hydro-pneumatic suspension suitable for the high clearance self-propelled sprayer was designed,and a design method combining the improved MOPSO algorithm based on time-varying fusion strategy and adaptive update with the parameter optimization of hydro-pneumatic suspension based on this algorithm was proposed,and finally the software simulation and bench performance verification were carried out.The results show that the optimized hydropneumatic suspension has excellent vibration reduction effect,and the body acceleration,suspension dynamic deflection and tire deflection were increased by 16.5%,9.9%and 0.9%respectively,compared with those before optimization.The comprehensive performance of the hydro-pneumatic suspension designed in this study is better than that of the traditional suspension.

Development of a Twin-Accumulator Hydro-Pneumatic Suspension

A twin-accumulator hydro-pneumatic suspension has been developed based on the off-road vehicle in order to meet the requirements of ride comfort. The working principle and elements construct of the developed suspension are studied. And then,a mathematical model of the developed suspension is built. The influence of twin-accumulator hydro-pneumatic suspension parameters on the vehicle body vertical acceleration,suspension travel and dynamic tyre load is studied by simulation based on a quarter off-road vehicle model. The ride comfort of the vehicle with the developed suspension is studied by a theoretical evaluation; also the ride comfort of the vehicle with twin-accumulator hydro-pneumatic suspension is compared with the one with single accumulator hydro-pneumatic suspension in both time domain and frequency domain. The result shows that the twin-accumulator hydro-pneumatic suspension system gives worthwhile improvements in ride comfort compared with the single accumulator hydro-pneumatic suspension,and it is more suitable for off-road vehicle.

Millisecond dynamics of colloidal suspension studied by X-ray photon correlation spectroscopy at the Shanghai Synchrotron Radiation Facility

X-ray photon correlation spectroscopy(XPCS)has emerged as a powerful tool for probing the nanoscale dynamics of soft condensed matter and strongly correlated materials owing to its high spatial resolution and penetration capabilities.This technique requires high brilliance and beam coherence,which are not directly available at modern synchrotron beamlines in China.To facilitate future XPCS experiments,we modified the optical setup of the newly commissioned BL10U1 USAXS beamline at the Shanghai Synchrotron Radiation Facility(SSRF).Subsequently,we performed XPCS measurements on silica suspensions in glycerol,which were opaque owing to their high concentrations.Images were collected using a high frame rate area detector.A comprehensive analysis was performed,yielding correlation functions and several key dynamic parameters.All the results were consistent with the theory of Brownian motion and demonstrated the feasibility of XPCS at SSRF.Finally,by carefully optimizing the setup and analyzing the algorithms,we achieved a time resolution of 2 ms,which enabled the characterization of millisecond dynamics in opaque systems.

Design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection Control

This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection Control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition process.Firstly,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed.Subsequently,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed.Next,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal parameters.Finally,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs.Simulation results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency range.Under random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire load.This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration isolation performance.

Nonlinear Characteristic Analysis of Gas-Interconnected Quasi-Zero Stiffness Pneumatic Suspension System:A Theoretical and Experimental Study

Because of significantly changed load and complex and variable driving road conditions of commercial vehicles,pneumatic suspension with lower natural frequencies is widely used in commercial vehicle suspension system.How ever,traditional pneumatic suspension system is hardly to respond the greatly changed load of commercial vehicles To address this issue,a new Gas-Interconnected Quasi-Zero Stiffness Pneumatic Suspension(GIQZSPS)is presented in this paper to improve the vibration isolation performance of commercial vehicle suspension systems under frequent load changes.This new structure adds negative stiffness air chambers on traditional pneumatic suspension to reduce the natural frequency of the suspension.It can adapt to different loads and road conditions by adjusting the solenoid valves between the negative stiffness air chambers.Firstly,a nonlinear mechanical model including the dimensionless stiffness characteristic and interconnected pipeline model is derived for GIQZSPS system.By the nonlinear mechanical model of GIQZSPS system,the force transmissibility rate is chosen as the evaluation index to analyze characteristics.Furthermore,a testing bench simulating 1/4 GIQZSPS system is designed,and the testing analysis of the model validation and isolating performance is carried out.The results show that compared to traditional pneumatic suspension,the GIQZSPS designed in the article has a lower natural frequency.And the system can achieve better vibration isolation performance under different load states by switching the solenoid valves between air chambers.

Effect of temperature on suspension magnetization roasting of hematite using biomass waste as reductant:A perspective of gas evolution

The magnetization reduction of hematite using biomass waste can effectively utilize waste and reduce CO_(2) emission to achieve the goals of carbon peaking and carbon neutrality.The effects of temperatures on suspension magnetization roasting of hematite using biomass waste for evolved gases have been investigated using TG-FTIR,Py-GC/MS and gas composition analyzer.The mixture reduction process is divided into four stages.In the temperature range of 200-450℃ for mixture,the release of CO_(2),acids,and ketones is dominated in gases products.The yield and concentration of small molecules reducing gases increase when the temperature increases from 450 to 900℃.At 700℃,the volume concentrations of CO,H_(2) and CH_(4) peak at 8.91%,8.90% and 4.91%,respectively.During the suspension magnetization roasting process,an optimal iron concentrate with an iron grade of 70.86%,a recovery of 98.66% and a magnetic conversion of 45.70% is obtained at 700℃.Therefore,the magnetization reduction could react greatly in the temperature range of 600 to 700℃ owing to the suitable reducing gases.This study shows a detail gaseous evolution of roasting temperature and provides a new insight for studying the reduction process of hematite using biomass waste.

Advances in Active Suspension Systems for Road Vehicles

Active suspension systems(ASSs)have been proposed and developed for a few decades,and have now once again become a thriving topic in both academia and industry,due to the high demand for driving comfort and safety and the compatibility of ASSs with vehicle electrification and autonomy.Existing review papers on ASSs mainly cover dynamics modeling and robust control;however,the gap between academic research outcomes and industrial application requirements has not yet been bridged,hindering most ASS research knowledge from being transferred to vehicle companies.This paper comprehensively reviews advances in ASSs for road vehicles,with a focus on hardware structures and control strategies.In particular,state-of-the-art ASSs that have been recently adopted in production cars are discussed in detail,including the representative solutions of Mercedes active body control(ABC)and Audi predictive active suspension;novel concepts that could become alternative candidates are also introduced,including series active variable geometry suspension,and the active wheel-alignment system.ASSs with compact structure,small mass increment,low power consumption,high-frequency response,acceptable economic costs,and high reliability are more likely to be adopted by car manufacturers.In terms of control strategies,the development of future ASSs aims not only to stabilize the chassis attitude and attenuate the chassis vibration,but also to enable ASSs to cooperate with other modules(e.g.,steering and braking)and sensors(e.g.,cameras)within a car,and even with high-level decision-making(e.g.,reference driving speed)in the overall transportation system-strategies that will be compatible with the rapidly developing electric and autonomous vehicles.

Rapid prediction of flow and concentration fields in solid-liquid suspensions of slurry electrolysis tanks

Slurry electrolysis(SE),as a hydrometallurgical process,has the characteristic of a multitank series connection,which leads to various stirring conditions and a complex solid suspension state.The computational fluid dynamics(CFD),which requires high computing resources,and a combination with machine learning was proposed to construct a rapid prediction model for the liquid flow and solid concentration fields in a SE tank.Through scientific selection of calculation samples via orthogonal experiments,a comprehensive dataset covering a wide range of conditions was established while effectively reducing the number of simulations and providing reasonable weights for each factor.Then,a prediction model of the SE tank was constructed using the K-nearest neighbor algorithm.The results show that with the increase in levels of orthogonal experiments,the prediction accuracy of the model improved remarkably.The model established with four factors and nine levels can accurately predict the flow and concentration fields,and the regression coefficients of average velocity and solid concentration were 0.926 and 0.937,respectively.Compared with traditional CFD,the response time of field information prediction in this model was reduced from 75 h to 20 s,which solves the problem of serious lag in CFD applied alone to actual production and meets real-time production control requirements.

Integration of bio-inspired limb-like structure damping into motor suspension of high-speed trains to enhance bogie hunting stability

Hunting stability is an important performance criterion in railway vehicles.This study proposes an incorporation of a bio-inspired limb-like structure(LLS)-based nonlinear damping into the motor suspension system for traction units to improve the nonlinear critical speed and hunting stability of high-speed trains(HSTs).Initially,a vibration transmission analysis is conducted on a HST vehicle and a metro vehicle that suffered from hunting motion to explore the effect of different motor suspension systems from on-track tests.Subsequently,a simplified lateral dynamics model of an HST bogie is established to investigate the influence of the motor suspension on the bogie hunting behavior.The bifurcation analysis is applied to optimize the motor suspension parameters for high critical speed.Then,the nonlinear damping of the bio-inspired LLS,which has a positive correlation with the relative displacement,can further improve the modal damping of hunting motion and nonlinear critical speed compared with the linear motor suspension system.Furthermore,a comprehensive numerical model of a high-speed train,considering all nonlinearities,is established to investigate the influence of different types of motor suspension.The simulation results are well consistent with the theoretical analysis.The benefits of employing nonlinear damping of the bio-inspired LLS into the motor suspension of HSTs to enhance bogie hunting stability are thoroughly validated.

Anticancer Activity of Rice Callus Suspension Cultures from Aromatic Varieties and Metabolites Regulated in Treated Cancer Cell Lines

Tissue culture techniques were used to produce large amounts of bioactive compounds with medicinal potential, overcoming space and time constraints for cancer prevention. Rice callus suspension cultures(RCSC) and seed extracts prepared from aromatic rice varieties were used to evaluate the cytotoxic impact on human colon and lung cancer cell lines, as well as a normal control cell line, using Taxol as a positive control. RCSC and seed extracts from two Indian aromatic rice varieties were applied at different concentrations to treat the cancer cell lines and normal lung fibroblasts over varying time intervals. Apoptosis was assessed in 1:5 dilutions of the A549 and HT-29 cell lines treated with RCSC for 72 h, using propidium iodide staining and flow cytometry. RCSC showed a more potent cytotoxic effect than seed extracts with minimal effect on the normal cell line, in contrast to Taxol. Confocal microscopy and flow cytometry further confirmed the apoptotic effect of RCSC. Gas chromatography-mass spectrometry-based metabolic profiling identified metabolites involved in cytotoxicity and highlighted altered pathways. RCSC is proposed as an alternative source for the development of novel anticancer drugs with reduced side effects.

Unraveling the Rheology of Nanocellulose Aqueous Suspensions:A Comprehensive Study on Biomass-Derived Nanofibrillated Cellulose

The rheological properties of nanocellulose aqueous suspensions play a critical role in the development of nanocellulose-based bulk materials.High-crystalline,high-aspect ratio,and slender nanofibrillated cellulose(NFC)were extracted from four biomass resources.The cellulose nanofibrils and nanofibril bundles formed inter-connected networks in the NFC aqueous suspensions.The storage moduli of the suspensions with different concentrations were higher than their corresponding loss moduli.As the concentration increased,the storage and loss modulus of NFC dispersion increased.When the shear rate increased to a certain value,there were differences in the changing trend of the rheological behavior of NFC aqueous suspensions derived from different biomass resources and the suspensions with different solid concentrations.NFC dispersion’s storage and loss modulus increased when the temperature rose to nearly 80℃.We hope this study can deepen the understanding of the rheological properties of NFC colloids derived from different biomass resources.

Symmetry of upper eyelid after unilateral blepharoptosis repair with minimally invasive conjoint fascial sheath suspension technique

AIM:To investigate the symmetry of upper eyelid in patients with unilateral mild and moderate blepharoptosis who underwent unilateral minimally invasive combined fascia sheath(CFS)suspension.METHODS:A retrospective study of patients who underwent unilateral minimally invasive CFS suspension surgery between January 2018 and December 2021.Inclusion criteria included unilateral mild and moderate ptosis,good levator muscle function(>9 mm)and follow-up of at least 6mo.Pre-and post-operative symmetry was graded subjectively for marginal reflex distance 1(MRD1),tarsal platform show(TPS)and eyebrow fat span(BFS).A t-test was used to evaluate MRD1,TPS and BFS asymmetry by calculating delta values.The Bézier curve tool of the Image J software was used to extract the upper eyelid contours,where the symmetry was measured by the percentage of overlapping curvatures(POC).RESULTS:Totally 105 patients(105 eyelids)were included(mild group,n=84;moderate group,n=21).Postoperatively,all patients increased MRD1 and decreased TPS in the ptotic eye while maintaining unchanged BFS.The asymmetric delta value for MRD1 was measured to be 1.48±0.86 preoperatively,and it decreased to 0.58±0.67 postoperatively in all cases(P=0.0004).In patients with mild ptosis,the asymmetry value of TPS fell significantly from 1.15±0.62 to 0.68±0.38(P=0.0187).The symmetry of the upper eyelid contour increased in all subgroups of patients,with a POC of 59.39%±13.45%preoperatively and POC of 78.29%±13.80%postoperatively.CONCLUSION:Minimally invasive CFS suspension is proved to be an effective means of improving the symmetry of unilateral ptosis in terms of MRD1(all subgroups),POC(all subgroups)and TPS(only mild group),whereas BFS is unaffected.

Integrated Active Suspension and Anti-Lock Braking Control for Four-Wheel-Independent-Drive Electric Vehicles

This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model.Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed.An ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation.Finally,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test platform.The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.

Stochastic sampled-data multi-objective control of active suspension systems for in-wheel motor driven electric vehicles

This paper addresses the sampled-data multi-objective active suspension control problem for an in-wheel motor driven electric vehicle subject to stochastic sampling periods and asynchronous premise variables.The focus is placed on the scenario that the dynamical state of the half-vehicle active suspension system is transmitted over an in-vehicle controller area network that only permits the transmission of sampled data packets.For this purpose,a stochastic sampling mechanism is developed such that the sampling periods can randomly switch among different values with certain mathematical probabilities.Then,an asynchronous fuzzy sampled-data controller,featuring distinct premise variables from the active suspension system,is constructed to eliminate the stringent requirement that the sampled-data controller has to share the same grades of membership.Furthermore,novel criteria for both stability analysis and controller design are derived in order to guarantee that the resultant closed-loop active suspension system is stochastically stable with simultaneous𝐻2 and𝐻∞performance requirements.Finally,the effectiveness of the proposed stochastic sampled-data multi-objective control method is verified via several numerical cases studies in both time domain and frequency domain under various road disturbance profiles.