Nonlinear adaptive semiactive control of a half-vehicle model via hardware in the loop simulation

In this study, vehicle body vibrations are semiactively controlled using a nonlinear adaptive controllerdesigned to improve passenger comfort by guaranteeing closed loop system stability under variable road disturbanceswith parametric uncertainty. Semiactive vibration control is implemented to the system through the magnetorheologicaldamper. The MR damper test system is established in laboratory conditions, and the required values that are measuredfrom the test system are used in computer simulations via the hardware in the loop simulation (HILS) method. By thisway, it is possible to avoid the financial and other difficulties of the experimental study by establishing the test systemcompletely, and also the hesitations that may arise in terms of producing realistic results of pure simulation studies ofnonlinear dynamics. A 4-degree-of-freedom half-vehicle model is developed to examine the vehicle body bounce and pitchmovements, and simulations are carried out under bump and random road irregularities, and the results are presentedin comparison with the performance of the conventional skyhook controller. The performances of both controllers areinterpreted from the aspect of acceleration and displacement responses of the vibrations and related criteria. As a result,the vibration reduction performances of both controllers are investigated experimentally using the HILS test system andthe obtained results are evaluated with some comparative figures, performance criteria, and root mean square averagesof vibrations.

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