Yes / The fundamentals and preliminary analyses of an innovative future technology referred to as `semi-active steering' (SAS) are presented in this article. The proposed steering system configuration is similar to a conventional electrical power-assisted steering with the replacement of the rigid steering shaft with a low stiffness resilient shaft (LSRS), the presence of which allows `active control¿ to be performed on vehicles similar to the concept of full steer-by-wire (SBW). But, unlike SBW, the LSRS is an integral part of the system characteristics. The advantages of the semi-active system in comparison with SBWand other conventional systems are demonstrated. A mathematical model to predict the mechanical properties of the LSRS has been developed, and experiments were conducted on a medium-sized car fitted with an LSRS to verify that vehicle stability and drivability can be ensured in the event of active system failure. The results have indicated that the vehicle was stable and safe to be driven at low speeds, and is predicted to be driveable and safe at higher speeds. It is concluded that an SAS system of this type has the potential to improve the safety of SBW systems.

The suspension system is one of the most sensitive systems of a vehicle as it affects the dynamic behavior of the vehicle with even minor changes. These systems are designed to carry out multiple tasks such as isolating the vehicle body from the road/tire vibrations as well as achieving desired ride and handling performance levels in both steady state and limit handling conditions. The damping coefficient of the damper plays a crucial role in determining the overall frequency response of the suspension system. Considerable research has been carried out on semi active damper systems as the damping coefficient can be varied without the system requiring significant external power giving them advantages over both passive and fully active suspension systems. Dampers behave as non-linear systems at higher frequencies and hence it has been difficult to develop accurate models for its full range of motion. This study aims to develop a velocity sensitive damper model using artificial neural networks and essentially provide a 'black-box' model which encapsulates the non-linear behavior of the damper. A feed-forward neural network was developed by testing a semi active damper on a shock dynamometer at CenTiRe for multiple frequencies and damping ratios. This data was used for supervised training of the network using MATLAB Neural Network Toolbox. The developed NN model was evaluated for its prediction accuracy. Further, the developed damper model was analyzed for feasibility of use for simulations and controls by integrating it in a Simulink based quarter car model and applying the well-known skyhook control strategy. Finally, effects on ride and handling dynamics were evaluated in Carsim by replacing the default damper model with the proposed model. It was established that this damper modeling technique can be used to help evaluate the behavior of the damper on both component as well as vehicle level without needing to develop a complex physics based model. This can be especially beneficial in the earlier stages of vehicle development. / Master of Science / The suspension system is one of the most sensitive systems of a vehicle as it affects the dynamic behavior of the vehicle with even minor changes. These systems are designed to carry out multiple tasks such as absorbing shocks from the road as well as improving the handling of the vehicle for a smoother and safer drive. The level of firmness of the shock absorber/damper plays a crucial role in determining the overall behavior of the suspension system. Considerable research has been carried out on semi active damper systems as the damper stiffness can be varied quickly and easily as compared to other passive and fully active damper systems. Dampers are complex systems to model especially for high speed operations and hence it has been difficult to develop accurate mathematical models for its full range of motion. This study aims to develop an accurate mathematical model for a semi active damper using artificial neural networks. A semi active damper was fabricated and tested on a shock dynamometer at CenTiRe for multiple speeds and stiffness values. Thistest data obtained was used for training of the mathematical model using the computer software MATLAB. The developed model was evaluated for its accuracy and further analyzed for feasibility of use in computer simulations. It was established that this damper modeling technique can be used to help evaluate the behavior of the damper with high accuracy while still running the simulations relatively quickly whereas in current simulations compromise has to be made on at least the accuracy of the model or the simulation speed. This can be especially beneficial in the earlier stages of vehicle development.

Hunting is a very common instability exhibited by rail vehicles operating at high speeds. The hunting phenomenon is a self excited lateral oscillation that is produced by the forward speed of the vehicle and the wheel-rail interactive forces that result from the conicity of the wheel-rail contours and the friction-creep characteristics of the wheel-rail contact geometry. Hunting can lead to severe ride discomfort and eventual physical damage to wheels and rails. A comprehensive study of the lateral stability of a single wheelset, a single truck, and the complete rail vehicle has been performed. This study investigates bifurcation phenomenon and limit cycles in rail vehicle dynamics. Sensitivity of the critical hunting velocity to various primary and secondary stiffness and damping parameters has been examined. This research assumes the rail vehicle to be moving on a smooth, level, and tangential track, and all parts of the rail vehicle to be rigid. Sources of nonlinearities in the rail vehicle model are the nonlinear wheel-rail profile, the friction-creep characteristics of the wheel-rail contact geometry, and the nonlinear vehicle suspension characteristics. This work takes both single-point and two-point wheel-rail contact conditions into account. The results of the lateral stability study indicate that the critical velocity of the rail vehicle is most sensitive to the primary longitudinal stiffness. A method has been developed to eliminate hunting behavior in rail vehicles by increasing the critical velocity of hunting beyond the operational speed range. This method involves the semi-active control of the primary longitudinal stiffness using the wheelset yaw displacement. This approach is seen to considerably increase the critical hunting velocity. / Master of Science

Instead of dissipating vibration energy into heat waste via viscous damping elements, this dissertation proposes an innovative vibration control method which can simultaneously mitigate vibration and harvest the associated vibration energy using electromagnetic energy harvesters. This dissertation shows that the electromagnetic energy harvester can work as a controllable damper as well as an energy harvester. The semi-active control of a linear electromagnetic energy harvester, for improvement of suspension performance, has been experimentally implemented in a scaled-down quarter-car suspension system. While improving performance, power produced by the harvester can be harvested through energy harvesting circuits. This dissertation also proposes a mechanical-motion-rectifier(MMR)-based electromagnetic energy harvester using a ball-screw mechanism and two one-way clutches for the application of replacing the viscous damper in vehicle suspensions. Compared to commercial linear harvesters, the proposed design is able to provide large damping forces and increase power-dissipation density, making it suitable to vehicle suspensions. In addition, the proposed MMR-based harvester can convert reciprocating vibration into unidirectional rotation of the generator. This feature significantly increases energy-harvesting efficiency by enabling the generator to rotate at a relatively steady speed during irregular vibrations and improves the system reliability by reducing impact forces among transmission gears. Extensive theoretical and experimental analysis have been conducted to characterize the proposed MMR-based energy harvester. The coupled dynamics of the suspension system with the MMR-based energy harvester are also explored and optimized. Furthermore, a new control algorithm is proposed to control the MMR-based energy harvester considering its unique dynamics induced by the one-way clutches. The results show that the controlled proposed electromagnetic energy harvester can possibly improve ride comfort of vehicles over conventional oil dampers and simultaneously harvest the associated vibration energy. / Ph. D. / Instead of dissipating vibration energy into heat waste via viscous damping elements, this dissertation proposes an innovative vibration control method which can simultaneously mitigate vibration and harvest the associated vibration energy using electromagnetic energy harvesters. This dissertation shows that the electromagnetic energy harvester can work as a controllable damper as well as an energy harvester. The semi-active control of a linear electromagnetic energy harvester, for improvement of suspension performance, has been experimentally implemented in a scaled-down quarter-car suspension system. While improving performance, power produced by the harvester can be harvested through energy harvesting circuits. This dissertation also proposes a mechanical-motion-rectifier(MMR)-based electromagnetic energy harvester using a ball-screw mechanism and two one-way clutches for the application of replacing the viscous damper in vehicle suspensions. Compared to commercial linear harvesters, the proposed design is able to provide large damping forces and increase powerdissipation density, making it suitable to vehicle suspensions. In addition, the proposed MMRbased harvester can convert reciprocating vibration into unidirectional rotation of the generator. This feature significantly increases energy-harvesting efficiency by enabling the generator to rotate at a relatively steady speed during irregular vibrations and improves the system reliability by reducing impact forces among transmission gears. Extensive theoretical and experimental analysis have been conducted to characterize the proposed MMR-based energy harvester. The coupled dynamics of the suspension system with the MMR-based energy harvester are also explored and optimized. Furthermore, a new control algorithm is proposed to control the MMR-based energy harvester considering its unique dynamics induced by the one-way clutches. The results show that the controlled proposed electromagnetic energy harvester can possibly improve ride comfort of vehicles over conventional oil dampers and simultaneously harvest the associated vibration energy.

Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external source of power. In this study, a handful of control approaches are implemented on a car models using MATLAB/Simulink. The investigated control methodologies are skyhook, groundhook, hybrid skyhook-groundhook, Acceleration Driven Damper, Power Driven Damper, H∞ Robust Control, Fuzzy Logic Controller, and Inverse ANFIS. H∞ Robust Control is an advanced method that guarantees transient performance and rejects external disturbances. It is shown that H∞ with the proposed modification, has the best performance although its relatively high cost of computation could be potentially considered as a drawback. Also, the proposed Inverse ANFIS controller uses the power of fuzzy systems along with neural networks to help improve vehicle ride metrics significantly. In this study, a novel approach is introduced to analyze and fine-tune semi-active suspension control algorithms. In some cases, such as military trucks moving on off-road terrains, it is critical to keep the vehicle ride quality in an acceptable range. Semi-active suspensions are used to have more control over the ride metrics compared to passive suspensions and also, be more cost-effective compared to active suspensions. The proposed methodology will investigate the skyhook-groundhook hybrid controller. This is accomplished by conducting sensitivity analysis of the controller performance to varying vehicle/road parameters. This approach utilizes sensitivity analysis and one-at-a-time methodology to find and reach the optimum point of vehicle suspensions. Furthermore, real-time tuning of the mentioned controller will be studied. The online tuning will help keep the ride quality of the vehicle close to its optimum point while the vehicle parameters are changing. A quarter-car model is used for all simulations and analyses. / Ph. D. / Passenger safety and comfort have always been two major concerns in designing and engineering vehicles. Suspensions play a vital role in this regard. They are there to ensure a very smooth and comfortable ride experience. Many technologies have been developed to increase performance of suspension and customize their functionality. However, only a few developments led to a new family of suspensions and opened a broad field in automotive engineering for researchers to do their twist and tweaks. One fascinating technology that was developed a few decades ago, was semi-active suspensions. Their advantage over conventional ones is that its stiffness can be adjusted on the fly. This property can be combined with a control methodology in order to improve the ride experience further more compared to conventional suspensions. In this dissertation, some novel control methodologies are developed and compared with existing ones. The results are discussed exclusively for each controller.

This diploma thesis deals with the issue of semi-active damping and its use in trucks. The first part of this thesis deals with a research of existing damping systems, especially for trucks. Subsequently, different ways of damping control are compared. After this analysis, two versions of the conversion of the series dumper to semi-active were created. At the end of this work, both versions are compared.

Este trabalho aborda a aplicação de uma máquina elétrica síncrona do tipo tubular linear de ímãs permanentes em um sistema de suspensão semiativa. O uso de amortecedores eletromagnéticos lineares em sistemas de suspensão não é uma ideia nova, mas a maioria dos trabalhos publicados sobre este assunto concebem soluções ativas e negligenciam as semiativas, sobretudo com estudos experimentais. Nesta pesquisa é discutido um modelo dinâmico eletromecânico acoplado de um sistema de suspensão semiativa, considerando um amortecedor eletromagnético linear e também apresentando dados experimentais. Leis da mecânica clássica e do eletromagnetismo são aplicadas para descrever o sistema que combina teoria de vibrações e máquinas elétricas. Um modelo virtual com vários subsistemas foi implementado no ambiente MATLABR /Simulink/Simscape para associar equações e simular o desempenho global. Para o caso passivo, os resultados numéricos e experimentais validam os parâmetros e confirmam a funcionalidade do sistema e a metodologia proposta. Simulações e testes experimentais para o caso semiativo são consistentes, mostrando uma melhoria na transmissibilidade de deslocamento, em relação ao modo passivo, e a possibilidade de regeneração de energia. / This work addresses the application of a tubular linear permanent magnet synchronous machine working as a damper for a semi-active suspension system. The use of linear electromagnetic dampers in suspension systems is not a new idea. However, most published papers on this subject outline active solutions and neglect semi-active ones, above all, with experimental studies. Here a dynamic mechanicalelectromagnetic coupled model for a semi-active suspension system is reported. This is in conjunction with a linear electromagnetic damper and also presents experimental data. Classical laws of mechanics and electromagnetics are applied to describe a dynamic model combining vibration and electrical machines theories. A multifaceted MATLABR /Simulink/Simscape model was implemented to incorporate equations and simulate global performance. For the passive case, numerical and experimental results validate the parameters and confirm system function and the proposed methodology. Simulation and practical results for the semi-active case are consistent, showing an improvement in the displacement transmissibility and the possibility of energy regeneration.

Advanced materials such as carbon fiber, composite materials et al. are more and more used in modern industry. They make the structures lighter and stiffer. However, they bring vibration problems. Researchers studied numerous methods to eliminate the undesirable vibrations. These treatments are expected to be a compact, light, intellectual and modular system. Recently, a nonlinear technique which is known as Synchronized Switch Damping (SSD) technique was proposed. These techniques synchronously switched when structure got to its displacement extremes that leading to a nonlinear voltage on the piezoelectric elements. This resulting voltage showed a time lag with the piezoelectric strain thus causing energy dissipation. Based on the developed SSD techniques, a new synchronized switch damping e.g. Synchronized Switch Damping with Energy Transfer (SSDET) was proposed in this document. This method damped the vibration by using the energy from other vibrating form. The objectives of the work reported in this document were threefold. The first one consisted of introduction of SSDET principle and developing its control law. This part aimed at establishing the mathematical model and verifying the proposed method by mathematical tools. Then, the experimental validations were carried out. Three experiments with different configurations demonstrated that SSDET can be implemented not only between structures but also vibrating modes in one structure. A SSDET scheme with multi-patches was also investigated for improving the damping. Finally, a bidirectional SSDET concept was introduced based on the original SSDET technique. This technique be regarded as a multimode control SSDET. Since it privileged the target vibration while keeps a decent control effect on the source vibration.

Resumo: O presente trabalho tem como objetivo a aplicação da tecnologia de controle semi-ativo em suspensões veiculares, empregando amortecedores magnetoreológicos e controladores nebulosos. O princípio de funcionamento dos amortecedores magnetoreológicos é evidenciado a partir de um procedimento de identificação numérica onde os resultados obtidos pela técnica de modelagem apresentada são confrontados com dados experimentais coletados. O grande avanço experimentado pelos controladores nebulosos nos últimos anos tem aberto novas possibilidades de aplicação prática de tais controladores. O comportamento não linear dos amortecedores magnetoreológicos associado às variações paramétricas e não- linearidades presentes em modelos de suspensões veiculares são características que corroboram para o uso dos controladores nebulosos. A formulação básica para a análise e projeto destes controladores é discutida e analisada através de um conjunto de simulações numéricas efetuado para a avaliação da robustez, estabilidade e desempenho dos mesmos. A bancada experimental, constituída de um sistema de dois graus de liberdade contendo um amortecedor magnetoreológico, é apresentada e tem seus parâmetros principais identificados. Tal bancada é usada para comparar os resultados numéricos simulados com aqueles obtidos experimentalmente. O trabalho termina comentando as potencialidades da metodologia apresentada, discutindo as facilidades e dificuldades encontradas na sua implementação e aponta propostas para a sua continuidade / Abstract: This work focus on the investigation of semi-active vibration control technology in vehicle suspensions by using magneto-rheological dampers and fuzzy controllers. The operation principle of magneto-rheological dampers is verified by a numerical identification procedure and the results obtained by the presented modeling techniques are compared with the experimental collected data. The great progress tried by the fuzzy controllers in the last years has been opening new possibilities of practical application for these controllers. The non- linear behavior of the magnetorheological dampers associated to the parametric variations and non-linearities on vehicle suspension models corroborate to the use of the fuzzy controllers. The fundamental formulation of this controller is discussed and its robustness, stability and performance are shown through numeric simulations. An experimental apparatus representing a two degree-of-freedom system containing a magnetorheological damper is used to identify the main parameters and to compare the previous simulation results. This work is concluded presenting the potentialities of the design methodology proposed and future developments to be implemented / Orientador: Vicente Lopes Junior / Coorientador: Gustavo Luiz Chagas Manhães de Abreu / Banca: João Antonio Pereira / Banca: Bento Rodrigues de Pontes Júnior / Mestre

Le sujet de thèse concerne l’analyse de la propagation des ondes dans les structures complexes et leurs exploitations pour le contrôle semiactif et le contrôle de santé de structures intelligentes. Les structures composites munies de patches piézoélectriques sont la cible principale des investigations. Les patches piézoélectriques sont disposés avec une périodicité. Des travaux précédents ont montré l’intérêt de ce type de configuration pour l’amortissement actif de modes de structures en basses fréquences. L’objectif principal de cette thèse est l’extension de ces constatations dans une bande de fréquences plus large : basses et moyennes fréquences. La maîtrise des paramètres de propagation et de diffusion des ondes est la finalité recherchée. Dans ce cadre, les travaux proposés se baseront sur une technique particulière développée au sein de l’équipe Dynamique des Systèmes et des Structures: la technique WFE (Wave Finite Element), Ondes par éléments finis. Cette approche, construite à l’aide d’un modèle éléments finis d’une cellule représentative de l’essentiel des paramètres de propagation et de diffusion des ondes dans les structures. Elle a été validée sur des cas simples de structures, principalement isotrope monodimensionnel. La modélisation dans ce cas des sandwichs plaques composites munies de couches piézoélectriques sera opérée. Des simulations numériques poussées seront effectuées afin de cerner le cadre d’application de la WFE pour ce type de structures. Des optimisations pourront être réalisées avec ces outils numériques afin d’obtenir des paramètres géométriques et électriques optimaux dans la conception des structures intelligentes. Les travaux de cette thèse sont intégrés dans le projet CALIOP en collaborant avec le laboratoire de Mécanique Appliquée R.Chaléat de l’Institut FEMTOSTet G.W. Woodruff School of Mechanical Engineering de Georgia Institute of Technology. / The analysis of wave propagation in complex structures and its application for the semi-active control of smart structures and health monitoring of these structures are dealt with in this thesis. The design of composite structures with shunted piezoelectric patches is one of the main objectives of all the investigations. This kind of smart composite structures is equipped with periodically distributed shunted piezoelectric patches. Former studies have shown the great interest of such a configuration for the active damping of structural modes at low frequencies. This thesis is focused on the extension of all these interesting characteristics of the smart structures to a larger frequency band: low and medium frequencies. The mastering of the propagation parameters and energy diffusion characteristics is targeted. In this context, the proposed work is based on techniques specifically developed in the research team "Dynamics of Systems and Structures"(D2S): the Wave Finite Element (WFE) method and Diffusion Matrix Model(DMM). The WFE approach is constructed via the finite element model of a unit cell, representative of the waveguide structure. It enables the calculation of essential wave propagation parameters like wavenumbers. The DMM, associated with the WFE approach, enables the calculation of energy diffusion characteristics like reflection and transmission coefficients of specific wave modes. These approaches are extended to consider shunted piezoelectric elements and then to evaluate the performance of shunted piezoelectric patches on the control of wave propagation in the aforementioned smart composite structures. Intensive optimizations can be carried out, with these tools, so as to obtain optimal geometric and electric parameters in the design of these smart structures. The present work is integrated in the CALIOP project in cooperation with the Laboratory of Applied Mechanics R.Chaléat at FEMTO-ST Institute and the G.W. Woodruff School of Mechanical Engineering of Georgia Institute of Technology.