A hybrid sliding mode controller design for vibration suppression in a hydraulic suspension system with vertical load disturbance

Abstract

Anti-disturbance vibration control is a crucial component in a hydraulic suspension system. However, random input excitation and prolonged service can cause hydraulic suspension system parameters to drift, leading to system vibration with suppression failure. The resulting states of nonlinearity and disturbance will lead to a gradual deterioration of pressure control. Therefore, designing a viable controller for a hydraulic suspension system that considers system nonlinearity, computing capacity, and sensor configuration is essential. To address this need, we present a double-layer control strategy in this work. A hybrid sliding mode control algorithm based on the reference skyhook and groundhook model is proposed to regulate the expected force of reverse compensation. An output controller is then applied based on the expected force observer to mitigate low-frequency vibrations to realize a steady state. A logic rule is designed to ensure that the two controllers work to suppress sprung mass vibration, and a comprehensive system model is derived to help characterize system nonlinearities and design the hybrid sliding model controller. Numerical and physical validations are then carried out to demonstrate the feasibility of the strategy and test the performance of the controller. The experimental results show that the hybrid sliding mode controller can suppress vibration under disturbance excitation and reduce the vibration acceleration to a 2.3 m/s2 random response when system parameters vary.