Asymptotic saturation magic formula model and time delay compensation control for a magnetorheological semi-active suspension

The control accuracy of semi-active suspension systems with magnetorheological (MR) dampers is critically influenced by time delay and mechanical characteristic modelling quality. This study introduces a hierarchical time delay compensation control system, incorporating an upper system for predictive force to compensate time delay and a lower system for accurate exciting current calculation. Building on the parameter consistency of existing magic formula models, a novel asymptotic saturation model is proposed, enhancing modelling precision through parameter identification and experimental fitting. In the upper controller, a new compound H2 strategy, integrating robust control and the Taylor formula, mitigates predictive force amplification. The lower controller utilises the proposed model to calculate exciting currents. Simulation and hardware-in-the-loop experimental results corroborate the effectiveness of the semi-active suspension system featuring MR damper regulated by the specially designed hierarchical time delay compensation controller with a good suspension work effect.