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.

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.

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.

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.

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.

Operational modal identification of suspension bridge based on structural health monitoring system

An output-only modal identification method by a combination use of the peak-picking method and the cross spectrum methods are presented. Meanwhile, a novel mode shape optimum method of the deck is proposed. The methods are applied to the operational modal identification system of the Runyang Suspension Bridge, which can be used to obtain the modal parameters of the bridge from out-only data sets collected by its structural health monitoring system （SHMS）. As an example, the vibration response data of the deck, cable and tower recorded during typhoon Matsa excitation are used to illustrate the program application. Some of the modal frequencies observed from deck vibration responses are also found in the vibration responses of the cable and the tower. The results show that some modal shapes of the deck are strongly coupled with the cable and the tower. By comparing the identification results from the operational modal system with those from field measurements, a good agreement between them is achieved, but some modal frequencies identified from the operational modal identification system （OMIS）, such as L1 and L2, obviously decrease compared with those from the field measurements.

Three Dimensional Kinematics Analysis of the Independent Suspension Multibody System

Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce the number of the generalized coordinates and constraint functions. By solving the nonlinear equations, the motion of any points in the whole suspension and wheel system can be predicted, including the spatial changes of the wheel alignment parameters which are of great importance to the car performances.

Analytical model for power dissipation in cell membranes in suspensions exposed to electric fields

Due to interaction among cells, it is too complex to build an exactanalytical model for the power dissipation within the cell membrane in suspensions exposed toexternal fields. An approximate equivalence method is proposed to resolve this problem. Based on theeffective medium theory, the transmembrane voltage on cells in suspensions was investigated by theequivalence principle. Then the electric field in the cell membrane was determined. Finally,analytical solutions for the power dissipation within the cell membrane in suspensions exposed toexternal fields were derived according to the Joule principle. The equations show that theconductive power dissipation is predominant within the cell membrane in suspensions exposed todirect current or lower frequencies, and dielectric power dissipation prevails at high frequenciesexceeding the relaxation frequency of the exposed membrane.

MORPHOLOGICAL MODEL FOR RHEOLOGICAL PROPERTIES OF PLANT CELL SUSPENSION CULTURE SYSTEM

This paper puts forward a physical and mathematical model for the rheological properties of a plant cell suspension culture system.The model can explain why the system is pseudoplastic satisfactorily,thus the rheological properties of the system as the effect of the flow behavior index on plant cell concentration are interpreted correctly and the mechanism of the rheological properties of the system is further understood.Therefore the model can be applied in the technological design and optimum conditions of the system and the reformation,evaluation and scale up of reactors.

Two Adaptive Control Algorithms in Semi-Active Suspension System

To reduce the vibration in the suspension, semi active suspension system was employed. And its CARMA model was built. Two adaptive control schemes, the minimum variance self tuning control algorithm and the pole configuration self tuning control algorithm, were proposed. The former can make the variance of the output minimum while the latter can make dynamic behavior satisfying. The stability of the two schemes was analyzed. Simulations of them show that the acceleration in the vertical direction has been reduced greatly. The purpose of reducing vibration is realized. The two schemes can reduce the vibration in the suspension and have some practicability.

Performance analysis of air suspension system of heavy truck with semi-active fuzzy control

In order to analyze and evaluate the performance of the air suspension system of heavy trucks with semi-active fuzzy control, a three-dimensional nonlinear dynamical model of a typical heavy truck with 16-DOF（degree of freedom） is established based on Matlab/Simulink software. The weighted root-mean-square（RMS） acceleration responses of the vertical driver ＇s seat, the pitch and roll angle of the cab, and the dynamic load coefficient（DLC） are chosen as objective functions, and the air suspension system is optimized and analyzed by the semi-active fuzzy control algorithm when vehicles operate under different operation conditions. The results show that the influence of the roll angle of the cab on the heavy truck ride comfort is clear when vehicles move on the road surface conditions of the ISO level D and ISO level E at a velocity over 27.5 m/s. The weighted RMS acceleration responses of vertical driver＇ s seat, the pitch and roll angle of the cab are decreased by 24%, 30% and 25%, respectively,when vehicles move on the road surface condition of the ISO level B at a velocity of 20 m/s. The value of the DLC also significantly decreases when vehicles operate under different operation conditions. Particularly, the DLC value of the tractor driver axle is greatly reduced by 27.4% when the vehicle operates under a vehicle fully-loaded condition on the road surface condition of ISO level B at a velocity of 27.5 m/s.

Optimization of suspension system of off-road vehicle for vehicle performance improvement

Vehicle suspension design includes a number of compromises to provide good leveling of stability and ride comfort. Optimization of off-road vehicle suspension system is one of the most effective methods, which could considerably enhance the vehicle stability and controllability. In this work, a comprehensive optimization of an off-read vehicle suspension system model was carried out using software ADAMS. The geometric parameters of suspension system were optimized using genetic algorithm (GA) in a way that ride comfort, handling and stability of vehicle were improved. The results of optimized suspension system and variations of geometric parameters due to road roughness and different steering angles were presented in ADAMS and the results of optimized and conventional suspension systems during various driving maneuvers were compared. The simulation results indicate that the camber angle variations decrease by the optimized suspension system, resulting in improved handling and ride comfort characteristics.

Fuzzy Hybrid Control of Vibration Attitude of Full Car via Magneto-rheological Suspensions

A magneto-rheological（MR） semi-active suspension system with the controllable damping forces has received more attention in reducing the vibration of a vehicle. However, many control strategies only discussed one or two vibration states of the vehicle based on a quarter-car model or a half vehicle model via MR suspensions. They cannot provide a satisfying whole-vehicle performance on a road test. Hence, a full car vibration model via an MR suspension system is proposed. To reduce the heave, pitch and roll motion of the vehicle body and the vertical vibration of four wheels, a fuzzy hybrid controller for vibration attitude of full car via MR suspensions is proposed. First, a skyhook-fuzzy control scheme is designed to reduce the heave, roll and pitch motion of the vehicle body. Second, a revised ground hook control strategy is adopted to decrease the vertical vibration of the wheels. Finally, a hybrid control scheme based on a fuzzy reasoning method is proposed to tune the hybrid damping parameter, which is suitable for coordination the attitude of the vehicle body and the wheels. A test and control system for the vibration attitude of full car is set up. It is implemented on a car equipped with four MR suspensions. The results on random highway and rough road indicate that the fuzzy hybrid controller can decrease the vibration accelerations of the vehicle body and the wheels to 65%-80% and 80%-90%, respectively. It reduces the automotive vibrations of heave, roll and pitch more effectively than a passive suspension and an MR suspension with a traditional hybrid control scheme so that it achieves better ride comfort and road holding concurrently. This paper proposes a new fuzzy hybrid control（FHC） method for reducing vibration attitude of full car via MR suspensions and develops a road test to evaluate the FHC.

Vehicle Ride Comfort Based on Matching Suspension System

The existing investigations of vehicle ride comfort mainly include motion characteristics analysis based on creating a multi-body dynamic simulation model,and the parameters analysis to improve the suspension control for the target.In the study of creating multi-body dynamics simulation models,there is usually without considering calibration and test verification,which make it difficult to ensure the production of engineering.In the study of improving the suspension control parameters for the target,there is a lack of systematic match about comfortable and human characteristics,so it is difficult to implement in the field of driving and leading the vehicle design.In this paper,based on the different characteristic of suspension system that effects on the vehicle ride comfort, according to the suspension system dynamic mechanism,the research methods of vehicle road test,bench test and CAE simulation is used,at the same time,several sensitivity analysis of vehicle ride comfort related to suspension stiffness and damping and speed is made. As a result,the key suspension systematic parameters are given that have important impact on vehicle ride comfort.Through matching parameters,a calibration analysis of suspension system based on human comfort is obtained.The analysis results show that the analysis methods for the design target of making the vehicle with best comfort are effective.On the basis of the theory study,five suspension parameter matching principles are explored to promise the vehicle with perfect ride comfort,which also provide theoretical basis and design methods for the passenger car best match of suspension system stiffness and damping.The research results have the promotional value of practicability and a wide range of engineering application.

Hierarchical Control of Ride Height System for Electronically Controlled Air Suspension Based on Variable Structure and Fuzzy Control Theory

The current research of air suspension mainly focuses on the characteristics and design of the air spring. In fact, electronically controlled air suspension （ECAS） has excellent performance in flexible height adjustment during different driving conditions. However, the nonlinearity of the ride height adjusting system and the uneven distribution of payload affect the control accuracy of ride height and the body attitude. Firstly, the three-point measurement system of three height sensors is used to establish the mathematical model of the ride height adjusting system. The decentralized control of ride height and the centralized control of body attitude are presented to design the ride height control system for ECAS. The exact feedback linearization method is adopted for the nonlinear mathematical model of the ride height system. Secondly, according to the hierarchical control theory, the variable structure control （VSC） technique is used to design a controller that is able to adjust the ride height for the quarter-vehicle anywhere, and each quarter-vehicle height control system is independent. Meanwhile, the three-point height signals obtained by three height sensors are tracked to calculate the body pitch and roll attitude over time, and then by calculating the deviation of pitch and roll and its rates, the height control correction is reassigned based on the fuzzy algorithm. Finally, to verify the effectiveness and performance of the proposed combined control strategy, a validating test of ride height control system with and without road disturbance is carried out. Testing results show that the height adjusting time of both lifting and lowering is over 5 s, and the pitch angle and the roll angle of body attitude are less than 0.15°. This research proposes a hierarchical control method that can guarantee the attitude stability, as well as satisfy the ride height tracking system.

Capacities of Clay Fraction of a Latosol to Retain Cations and Anions as Inferred from the Wien Effect in Soil Suspensions

Suspensions of a latosol with a clay concentration of 30 g kg^(-1) wereprepared from electrodialyzed clay fractions, less than 2 μm in diameter, five nitrate solutionswith a concentration of 1 X 10^(04)/z mol L^(-1), where z is the valence, and five sodium saltsolutions with a concentration of 3.3 X 10^(-5)/2 mol L^(-1). The direct current (DC) electricalconductivities (ECs) of the colloidal suspensions were measured at a constant temperature of 25 ℃,using a newly established method of measuring the Wien effect in soil suspensions at field strengthsranging from 13.5 to 150 kV cm^(-1), to determine their electrical conductivity-field strengthrelationships and to infer the order of the bonding strength (retaining force) between soilparticles and various ions. The measurements with the latosol suspensions in NaNO_3, KNO_3,Ca(NO_3)_2, Mg(NO_3)_2 and Zn(NO_3)_2 solutions resulted in increments of the suspension ECs, ΔECs,of 7.9, 5.0, 7.1, 7.0 and 5.8 μS cm^(-1), respectively, when the applied field strength increasedfrom 14.5 to 142 kV cm^(-1). As for the suspensions in NaNO_3, NaCl, Na_2SO_4, Na_3PO_4 andNa_3AsO_4 solutions, the ΔECs were 6.2, 5.3, 4.1, 4.0 and 3.7μS cm^(-1), respectively, when theapplied field strength increased from 13.5 to 90 kV cm^(-1). Thus, it can be deduced that theretaining forces of the clay fraction of the latosol for the cations were in the descending orderK^+ > Zn^(2+) > Mg^(2+) ≥ Ca^(2+) > Na^+, and for the anions in the descending order H_2AsO_4^- >H_2PO_4^-≥ SO_4^(2-) > Cl^- > NO_3~ -.

Wien Effect in Suspensions of Electrodialyzed Soil Particles and Its Influencing Factors

The electrical conductivity of suspensions and their supernatants from theelectrodialyzed clay fractions of latosol, yellow-brown soil and black soil equilibrated withnitrate solutions were determined at different field strengths using a short high-voltage pulseapparatus to demonstrate the Wien effect in soil suspensions and to investigate factors affectingit. It was found that Wien effect was much stronger in suspensions with a clay content of 30 gkg^(-1) from the soils equilibrated with a 1 X 10^(-4) KNO_3 solution than in their supernatants.The threshold field strength (TFS), at which the relative conductivity is equal to 1.05, i.e., theWien effect begins to be obvious, of the yellow-brown soil suspensions (clay content of 30 gkg^(-1)) equilibrated with different nitrate solutions of a concentration of 1 X 10^(-4)/z molL^(-1), where z is the valence, varied with the type of nitrates, being lowest for NaNO_3 (47 kVcm^(-1)) and highest for Ca(NO_3)_2 (98 kV cm^(-1)). At high field strengths (larger than 130 kVcm^(-1)), the relative conductivities of yellow-brown soil suspensions containing different nitratesdiminished in the order: NaNO_3 > KNO_3 > Mg(NO_3)_2 > Zn(NO_3)_2 > Ca(NO_3)_2. The rates andintensities of the Wien effect in the suspensions of the three soils equilibrated with 5 X 10^(-5)mol L^(-1) Ca(NO_3)_2 solution were in the order of the yellow-brown soil > the latosol > the blacksoil. The results for the yellow-brown soil suspensions (clay concentration of 30 g kg )equilibrated with KNO_3 solutions of various concentrations clearly demonstrated that the moredilute the solution, the lower the TFS, and the larger the relative conductivity of the suspensionsat high field strengths. The results for yellow-brown soil suspensions with different clayconcentrations indicated that as the clay concentration increased, the low field electricalconductivity, EC_0, also increased, but the TFS decreased, and the Wien effect increased.

Fuzzy Chaos Control for Vehicle Lateral Dynamics Based on Active Suspension System

The existing research of the active suspension system（ASS） mainly focuses on the different evaluation indexes and control strategies. Among the different components, the nonlinear characteristics of practical systems and control are usually not considered for vehicle lateral dynamics. But the vehicle model has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, the nonlinear dynamic model of lateral system is considered and also the adaptive neural network of tire is introduced. By nonlinear analysis methods, such as the bifurcation diagram and Lyapunov exponent, it has shown that the lateral dynamics exhibits complicated motions with the forward speed. Then, a fuzzy control method is applied to the lateral system aiming to convert chaos into periodic motion using the linear-state feedback of an available lateral force with changing tire load. Finally, the rapid control prototyping is built to conduct the real vehicle test. By comparison of time response diagram, phase portraits and Lyapunov exponents at different work conditions, the results on step input and S-shaped road indicate that the slip angle and yaw velocity of lateral dynamics enter into stable domain and the results of test are consistent to the simulation and verified the correctness of simulation. And the Lyapunov exponents of the closed-loop system are becoming from positive to negative. This research proposes a fuzzy control method which has sufficient suppress chaotic motions as an effective active suspension system.

Fuzzy Sliding Mode Control for the Vehicle Height and Leveling Adjustment System of an Electronic Air Suspension

The accurate control for the vehicle height and leveling adjustment system of an electronic air suspension(EAS) still is a challenging problem that has not been effectively solved in prior researches. This paper proposes a new adaptive controller to control the vehicle height and to adjust the roll and pitch angles of the vehicle body(leveling control) during the vehicle height adjustment procedures by an EAS system. A nonlinear mechanism model of the full?car vehicle height adjustment system is established to reflect the system dynamic behaviors and to derive the system optimal control law. To deal with the nonlinear characters in the vehicle height and leveling adjustment processes, the nonlinear system model is globally linearized through the state feedback method. On this basis, a fuzzy sliding mode controller(FSMC) is designed to improve the control accuracy of the vehicle height adjustment and to reduce the peak values of the roll and pitch angles of the vehicle body. To verify the effectiveness of the proposed control method more accurately, the full?car EAS system model programmed using AMESim is also given. Then, the co?simulation study of the FSMC performance can be conducted. Finally, actual vehicle tests are performed with a city bus, and the test results illustrate that the vehicle height adjustment performance is effectively guaranteed by the FSMC, and the peak values of the roll and pitch angles of the vehicle body during the vehicle height adjustment procedures are also reduced significantly. This research proposes an effective control methodology for the vehicle height and leveling adjustment system of an EAS, which provides a favorable control performance for the system.

Stiffness-damping matching method of an ECAS system based on LQG control

A novel method of matching stiffness and continuous variable damping of an ECAS(electronically controlled air suspension) based on LQG(linear quadratic Gaussian) control was proposed to simultaneously improve the road-friendliness and ride comfort of a two-axle school bus.Taking account of the suspension nonlinearities and target-height-dependent variation in suspension characteristics,a stiffness model of the ECAS mounted on the drive axle of the bus was developed based on thermodynamics and the key parameters were obtained through field tests.By determining the proper range of the target height for the ECAS of the fully-loaded bus based on the design requirements of vehicle body bounce frequency,the control algorithm of the target suspension height(i.e.,stiffness) was derived according to driving speed and road roughness.Taking account of the nonlinearities of a continuous variable semi-active damper,the damping force was obtained through the subtraction of the air spring force from the optimum integrated suspension force,which was calculated based on LQG control.Finally,a GA(genetic algorithm)-based matching method between stepped variable damping and stiffness was employed as a benchmark to evaluate the effectiveness of the LQG-based matching method.Simulation results indicate that compared with the GA-based matching method,both dynamic tire force and vehicle body vertical acceleration responses are markedly reduced around the vehicle body bounce frequency employing the LQG-based matching method,with peak values of the dynamic tire force PSD(power spectral density) decreased by 73.6%,60.8% and 71.9% in the three cases,and corresponding reduction are 71.3%,59.4% and 68.2% for the vehicle body vertical acceleration.A strong robustness to variation of driving speed and road roughness is also observed for the LQG-based matching method.