STATE CONTROLLER DESIGN OF THE ACTIVELY CONTROLLED DRIVER S SEAT
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1 STATE CONTROLLER DESIGN OF THE ACTIELY CONTROLLED DRIER S SEAT Libor K Smmry: In e er e inrocion sies o e se conroller esign o cive vibrion isolion sysem o e river se re resene. Te river se i e ir sring s e cor is escribe s nonliner lme sysem i rnsorion ely. Te lineriion o is nonliner ynmic sysem is se or iscree liner se sce conroller esign. Te bevior o is conroller i liner coninos esimor o nonliner sysem s been veriie in e lborory. Key ors: river s se cive vibrion isolion se conroller esimor. INTRODUCTION in conribion o e cive vibrion isolion sysem lso escribe in n is ecresing o vibrions rnsmissibiliy or lo reqencies n lso remining e lo rnsmissibiliy or ig reqencies. In esigne sysem is no se mer. Conrry o e commonly escribe sysems 6 7 n 8 in e esigne sysem is se e elecroniclly conrolle servo-vlve ic ees e ir ino e bellos ir sring or iscrges e ir rom e sring ino e mosere. We resen e nonliner memicl moel i concenre rmeers o e river s se i n ir sring. Te lineriion o is moel is min ie o se sce liner conroller esign. Te cive vibrion isolion is bse on eebc rincile.. ATHEATICAL ODEL. Nonliner moel o e river's se Simle mecnicl sceme o e consiere river s se is son in ig.. Hyrlic mer is no se. r Fig. Sceme o vibrion isolion sysem i scissor mecnism Ing. Libor K P.D. Universiy o Prbice Fcly o Elecricl Engineering n Inormics Dermen o Process Conrol náměsí Čs. legií 6 Prbice Tel.: F: E-mil: libor.@ce.c K: Se Conroller Design o e Acively Conrolle Driver s Se 69
2 K: Se Conroller Design o e Acively Conrolle Driver s Se 7 We inroce olloing bsic noion see ig. : bsole elecion o loer bse inemic eciion bsole elecion o er bse relive elecion r n rece mss o er bse i rece r o mn boy. Eqion o ynmic orces eqilibrim on e sysem is g S e ere is river rece mss e bsole ressre insie e sring e bsole mosere ressre g e grviy ccelerion consn e coeicien o viscos ricion S e = e eecive re o e ir sring n e ncion o isnce. Air mss lo Q m illing e ir sring ] [ v m Q ere is e volge in o elecro-mgneic vlve conroller o is rnsor ely n e bsole ressre insie e ccmlor. Air mss lo leving e ir sring ino e mosere ] [ v m Q. v n v re eerimenlly eermine lo coeiciens. Te ime erivive o ressre insie e ir sring m Q m ere is n ibic ir consn m e ir mss insie e sring is e sring s insie volme n re e ncions o isnce We cn lso rie m Q m. I is ossible o se insie e conroller e ncion ic mes lineriion o nonliner ir mss lo. In e ig. re e se vribles renme. Wi renme vribles e eqions re 6. 6b Ne eqion rises rom ig.. 6c
3 K: Se Conroller Design o e Acively Conrolle Driver s Se 7 Fig. Nonliner simlion moel Eqion i renme vribles is g ] [. 6 Ls eqion o nonliner moel is. 6e In eqions 6 re i i = se vribles is conroller o is isrbnce = /. Te iscsse ive eqions re nonliner se eqions o e sysem. Te vecor orm o em is. 7. Lineriion Te se eqions 7 cn be linerie bo e oering oin. Te lineriion o i- se eqion is s i r i i i. 8 Le e esigne n. Te linerie se eqions re B A 9 n e linerie se eqions o nonliner eqions 6 re b
4 K: Se Conroller Design o e Acively Conrolle Driver s Se 7 c ] [. e ere n. Te linerie se sce eqions in eqilibrim se = = ere se or liner se sce conroller esign. Te moiicion o is conroller s se or conrol o lborory river se.. STATE CONTROLLER Generl sceme o e conrol is son on ig. n ig.. I ses signls rom cceleromeers 6 7 islcemen sensor 8 n ressre sensor 9 s ins. Conrol comer conrols e osiion o e elecro-nemic vlve ic governs in res. olo rom e ir sring. Use o ny ming evice is roibie s i ol imir rnsmissibiliy iger reqencies. in roblem lies in e se o ir or oring meim becse o is comressibiliy. Fig. Generl rrngemen o e cively conrolle se
5 Generl s on e se rnsmissibiliy cn be ereore ose. I emns cievemen o mlie rnsmissibiliy ner or some less o one reqencies o ro. H n les sme or beer n o nme ssive -DOF reqencies over ro. H. Tis cn be cieve i cive conrol o e se ssension only. Fig. Bsic sceme o e conrol Deile sceme o e srcre o e conroller se in e cively conrolle se is son on ig.. Te conroller is imlemene by eige sm o e vles v re n ime inegrl o e ierence r rw rw is e reqire isnce seoin vle rom e se bse. Qniies n R re mesre irecly on e se. Se bse see v is clcle rom e mesre vles ic is irs ilere ig-reqency iler i rnsmission G s n en is inegre in ime. le re is come by e relive moion esimor. e n e re esimor coeiciens G e s n G e s re rnsmissions o ig-reqency ilers. Fig. Deile sceme o e se conroller imlemenion K: Se Conroller Design o e Acively Conrolle Driver s Se 7
6 Te se eebc conrol l cn be rien s r rw re [ ] v ere i or i = re se conroller coeiciens is conroller o. Te resling volge genere by e conroller is clcle U r = r + U ere r is e cion vrible o e nonliner conroller n U =.9 is e volge ic e grnee ero ir lo rog e vlve. Te resling conrol vlve volge U U v r. r Fig. 6 Bil-in nonliner comension ncion Fig. 7 Anoer imlemenion o e se conroller K: Se Conroller Design o e Acively Conrolle Driver s Se 7
7 Te comension ncion see igs. n is reerre o ig. 6. I s esigne by nmericl oimiion sing ynmic rogrmming meos iscree version o e Bellmn rincile o oimliy. Te bil-in comension ncion is comose o secions o e secon egree olynomils bonry beeen mre oins resecively irs egree olynomils osie e bonry oins. Te noer conroller see ig. 7 is imlemene by eige sm o e vles v re v re n ime inegrl o e ierence r rw. Ts e se eebc conrol l cn be rien s [ ] 6 r re 7 rw v re ere i or i = 7 re se conroller coeiciens. Conroller cion vrible r is nonliner ncion v r n Becse U r = r + U e resling conrol vlve volge U U. 6 v r Fig. 8 Simlion moel incling ln nonliner conroller n esimor K: Se Conroller Design o e Acively Conrolle Driver s Se 7
8 Simlion moel o e river s se i nonliner conroller ic incles cin o inegrors i ig-reqency ilers o clcle e velociy n osiion o e se bse n incles e bove escribe esimor o relive qniies is son on ig. 8. Te simlion moel s cree in ATLAB Simlin. Asble se conroller coeiciens ere on by nmericl simlion on e memicl moel see cer n ig. 7. Conroller rmeers ve been oimie sing e simlion moel in igre 8.. LABORATORY RESULTS Te resls o lborory veriicion i isrbnces mesre on rc TATRA 8 ring e rive on o-ro rc re in ig.. For comrison re in ig. resene e mesremens i insry roce river se i ssive vibrion isolion sysem. Te se isrbnces re in bo igres e sme. Fig. 9 Acively conrolle se i -DOF mmy on elecro-yrlic es rig 6 [cm] - [s] Fig. Lborory mesremen i cively conrolle se K: Se Conroller Design o e Acively Conrolle Driver s Se 76
9 6 [cm] - [s] Fig. Lborory mesremen i insry roce river se c Tr Forier secrm.8.6 PF PF P F F [ /H ] P [m/s /H] [H] Fig. PSD o e cively conrolle se bse ccelerion n se csion ccelerion.. ccelerion mlie rnsmissibiliy Tr Tr. P /P / [H] Fig. Accelerion mlie rnsmissibiliy o e cively conrolle se K: Se Conroller Design o e Acively Conrolle Driver s Se 77
10 Ses ere loe by simle eigs or by -DOF mmy. Tes resls ere oever or simle eigs n mmies very similr n eir minor ierences re no iscsse ere. Folloing resls ere gine i e mmy see ig. 9. P is e oer secrl ensiy PSD o e se bse ccelerion n P is e PSD o e se csion ccelerion. CONSLUSIONS Eerience gine ring e lborory esing les o e oimisic conclsion relively big cnges in se rnsmissibiliy cn be cieve by sible se ssension conrol even on ir-srng ses. Te ieren enly ncions or conroller esign n srcres o e esimors ic re e rs o se sce conroller re ese resen. Te lineriion o sysem se sce eqions ill be se or nonliner se sce conroller esign in re. Becse o e leibiliy o e conrol sysem rnsmissibiliy o e cively ssene se cn be ne o e cl emns o is ssengers i ese emns ill be non. ACKNOWLEDGENT Te or s been sore by e ns No. SGFEI/ o e Universiy o Prbice Cec Reblic. Tis sor is very grelly cnolege. REFERENCES APETAUR.; BUCHTA J.; JANEČEK B.; KUPKA L.; ŠKLÍBA J. Acively Conrolle Air-ssene Driver s Se From Lborory o Tr Proving Gron. Perner s Concs olme No. I ISSN: 8-67X. BARBORA J.; BUCHTA J.; JANEČEK B.; LUFINKA A.; AREK.; ŠKLÍBA J.; APETAUR.; KUPKA L. Reserc o Acively Conrolle Air-ssene Se or eicles. JE Jornl o ibroengineering 9 9 olme Isse Pblicion 76. ISSN KUPKA L.; JANEČEK B.; ŠKLÍBA J. Lborory eriicion o e Acive ibrion Isolion o e Driver Se. Recen Avnces in ecronics. Berlin Heielberg Ne Yor: Sringer 7. 7 ISBN ISRINGHAUSEN GmbH & Co. KG. Sisyseme Pro Inomeril. [Online.] Lemgo Germny. [ci. my.] Avilble URL: ://.isri.e/en/ses.ml. GRAER AG: Driver Ses or Trcs Agriclrl cines Consrcion cines n For Lis. [Online.] Amberg Germny. [ci. my.] Avilble URL: ://.grmmer.com/en/rocs-mres/seing-sysems.ml. 6 SEARS ANUFACTURING COPANY. Acive Ssension Sysem. [Online.] Dvenor USA. [ci. my.] Avilble URL: ://.sersseing.com/ecnology/innovions/. K: Se Conroller Design o e Acively Conrolle Driver s Se 78
11 7 P. USA 9/6789 PCT/US99/. ANDEROLEN G. L. Inegre Semi-cive Se Ssension n Se Loc Sysem. Wsingon: Unie Ses Pen n Tremr Oice P. Kn WO / PCT/CA/. PAILARD B.; AZOYER J.; ASSON P.; BELLY A.; ALBERT A. Ssension e siege cive. Qebec Kn: Orgniion onile e l Proriéé Inellecelle KUPKA L. Nelineární moel vibroiolčnío osvce sel řiiče s nůžovým voicím mecnismem eo linerice. Perner s Concs olme 6 No. I. 88. ISSN: 8-67X. KUPKA L. Acive ibrion Isolion Sysem o Driver Se. [Disserion esis.] Liberec 8. Tecnicl Universiy o Liberec. Fcly o ecronics Inormics n Ineriscilinry Sies. K: Se Conroller Design o e Acively Conrolle Driver s Se 79
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