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Backstepping Control of the Vehicle Suspension Model Equipped With the Magnetorheological Fluid Damper

Radkowski s., Słomczyński M.

Machine Dynamics Research

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2017

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Vol. 41, No. 4

121--133

EN

Backstepping is a method designed to control nonlinear systems. Formulated for the first time and described by Petar Kokotovic around 1990. The main purpose of backstepping is stabilisation of each subsystem’s structure; the function needs to be of an adequate class. The present task consists in minimising the vehicle body displacement from the position of equilibrium after it has been knocked out of it with the force exerted on the wheel, which has the purpose of simulating the wheel encountering an obstacle. The model depicts ¼ of the vehicle suspension with a conical spring or classical spring, and the damper with magnetorheological fluid which modifies damping of the suspension. The Mathcad programme facilitated the calculations, the model was designed using the Matlab – Simulink environment. Simulations were carried out on the model with the linear characteristics of a spring, as well as on the model with the implemented nonlinear spring. All the investigated cases were accompanied by the control tests that comprised building the model without control, i.e. with the constant value of damping

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Projekt interfejsu kierowcy bolidu wyścigowego klasy Formuła Student

Jajczyk J., Słomczyński M.

Poznan University of Technology Academic Journals. Electrical Engineering

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2016

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No. 88

217--226

PL

W pracy zaprezentowano projekt pulpitu kierowcy do bolidu wyścigowego. W pierwszej części artykułu dokonano przeglądu dostępnych interfejsów kierowcy stosowanych w bolidach wyścigowych. Przedstawiono przykładowe kierownice z zaimplementowanymi systemami umożliwiającymi kierowcy sterowanie wybranymi parametrami pracy pojazdu. Pozwoliło to na określenie niezbędnych elementów składowych pulpitu kierowcy, które należy zastosować w projektowanym układzie. W pracy zostały zaprezentowane schematy ideowe obwodów elektrycznych zaproponowanych modułów. Skupiono się głownie na elementach umożliwiających informowanie kierowcy o aktualnych parametrach pracy bolidu. Zaimplementowano obsługę wyświetlaczy LED i LCD oraz przeznaczonego do komunikacji modułu UART. Interfejs przedstawiony w pracy został opracowany na potrzebę zastosowania go w bolidzie wyścigowym klasy Formuła Student.

EN

The paper presents design desktop drivers to racing car. In the first part of the article made an overview of the available interfaces driver used on the racing car. Then presented examples of steering wheels with implemented systems that enable the driver to control selected operating parameters of the vehicle. This made it possible to identify the necessary components of the desktop drivers to be used in the proposed system. The paper presents schematic of electrical circuits used modules. Used elements to inform the rider of the current operating parameters of the car. Implemented support for LED and LCD displays and intended for communication module UART. The project was developed on the need to use it in the racing car class Formula Student.

3

Driver’s interface of the racing car

Jajczyk J., Słomczyński M.

Computer Applications in Electrical Engineering

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2016

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Vol. 14

520--530

EN

The paper presents the design of the driver’s desktop for the racing car. The first part of the article reviews the available interfaces of the driver used in the racing cars. The examples of steering wheels with the implemented systems that enable the driver to control the selected parameters of the vehicle were presented. The necessary components of the driver’s desktop were set out, which should be applied in the designed system. The second part of the paper presented the idea schemes of the electrical circuits of the applied modules. The focus was mainly on the elements that enable the information to the driver on the current parameters of the car. The support for the LED and LCD displays and the UART module designed for communication were implemented. The interface presented in the paper was developed for the purpose of using it in the racing car of the Formula Student class.