Design and Experimental Validation of an Extended State Observer for Estimating of Uncertainties and Unknown Road Input in a Quarter-car McPherson Suspension System

Document Type : Research Article

Authors

1 Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran

2 صنعتی سهند-مهندسی مکانیک

Abstract

This paper deals with the design and experimental implementation of an extended state observer for a fabricated quarter-car suspension platform with a McPherson mechanism equipped with different sensors. The algorithm aims to estimate uncertainties and road input, leading to an accurate dynamic model for the vehicle suspension system. In the proposed method, the terms including uncertainties and unknown road input are added to the system equations as new state variables and then estimated along with other state variables using data of sprung mass and un-sprung mass displacements. A nonlinear Kalman filter with unknown input is also designed to be compared with the extended state observer. The comparison results using the experimental data under measurement errors indicate the high accuracy of the extended state observer in constructing a precise dynamic model for the system. Meanwhile, the extended state observer uses fewer sensors and its regulation is easier.  Both observers are used within the structure of the active suspension system under an optimal nonlinear controller to provide the objectives of the suspension system. Co-simulation results of Adams/MATLAB show the better performance of the proposed controller using the extended state observer.

Keywords

Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 55, Issue 12
March 2024
Pages 1499-1522

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