Volume 31, Issue 17 pp. 8183-8205
SPECIAL ISSUE ARTICLE

A nonlinear parameter varying observer for real-time damper force estimation of an automotive electro-rheological suspension system

Thanh-Phong Pham

Corresponding Author

Thanh-Phong Pham

The University of Danang - University of Technology and Education, Da Nang, Vietnam

Correspondence Thanh-Phong Pham, The University of Danang - University of Technology and Education, Da Nang, 550000 Vietnam.

Email: [email protected]

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Olivier Sename

Olivier Sename

GIPSA-Lab, CNRS, Grenoble INP (Institute of Engineering), Université Grenoble Alpes, Grenoble, France

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Luc Dugard

Luc Dugard

GIPSA-Lab, CNRS, Grenoble INP (Institute of Engineering), Université Grenoble Alpes, Grenoble, France

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First published: 24 June 2021
Citations: 8

Funding information: ITEA3 European Project - EMPHYSIS, 15016

Abstract

This paper proposes a nonlinear parameter varying (NLPV) observer to estimate, in real-time, the damper force of an electrorheological (ER) damper in a road vehicle suspension system. The objectives are to minimize the effects of bounded unknown road profile disturbances and measurement noises on the estimation errors in the urn:x-wiley:rnc:media:rnc5583:rnc5583-math-0001 framework. Furthermore, the nonlinearity coming from the damper model (and considered in the observer formulation) is handled through a Lipschitz condition. The observer inputs are data given by two low-cost sensors (two accelerometers data from the sprung mass and the unsprung mass). For performance assessment, the observer is implemented on a 1/5-scaled real vehicle testbench of GIPSA-lab, namely INOVE (see www.gipsa-lab.fr/projet/inove). Both simulation and experimental results demonstrate the effectiveness of the proposed observer in terms of the ability to estimate the damper force in real-time and to minimize the effects of measurement noises and road disturbances.

DATA AVAILABILITY STATEMENT

The data of this study are available from the corresponding author upon reasonable request.

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