Journal of Zhejiang University

ENGINEERING Information Technology & Electronic Engineering 2026 Vol.27 No.10 P.1-14

http://doi.org/10.1631/ENG.ITEE.2026.0129

Physics-based hierarchical identification and model-inversion feedforward control for CDC semi-active dampers

Author(s): Shengdong YU, Chengdi ZHANG, Chao CHEN, Hongming ZHOU, Pengfei HAN, Jinyu MA
Affiliation(s): 1. Zhejiang Yazhixing Automobile Components Co., Ltd., Wenzhou 325400, China more
Corresponding email(s): han.pengfei@zj-gold.com.cn, jinyuma@nuaa.edu.cn
Key Words: CDC damper, Semi-active suspension, Hierarchical parameter identification, Bouc–Wen model, Model-inversion feedforward control, Force-sensor-free force tracking

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Shengdong YU, Chengdi ZHANG, Chao CHEN, Hongming ZHOU, Pengfei HAN, Jinyu MA. Physics-based hierarchical identification and model-inversion feedforward control for CDC semi-active dampers[J]. Journal of Zhejiang University Science C, 2026, 27(10): 1-14.

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author="Shengdong YU, Chengdi ZHANG, Chao CHEN, Hongming ZHOU, Pengfei HAN, Jinyu MA",
journal="Journal of Zhejiang University Science C",
volume="27",
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year="2026",
publisher="Zhejiang University Press & Springer",
doi="10.1631/ENG.ITEE.2026.0129"
}

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%T Physics-based hierarchical identification and model-inversion feedforward control for CDC semi-active dampers
%A Shengdong YU
%A Chengdi ZHANG
%A Chao CHEN
%A Hongming ZHOU
%A Pengfei HAN
%A Jinyu MA
%J Frontiers of Information Technology & Electronic Engineering
%V 27
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%I Zhejiang University Press & Springer
%DOI 10.1631/ENG.ITEE.2026.0129

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A1 - Shengdong YU
A1 - Chengdi ZHANG
A1 - Chao CHEN
A1 - Hongming ZHOU
A1 - Pengfei HAN
A1 - Jinyu MA
J0 - Frontiers of Information Technology & Electronic Engineering
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%@ 1869-1951
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/ENG.ITEE.2026.0129

Abstract
Chinese Summary
Academic Network
Reviewer Comment

Abstract: Semi-active suspension systems equipped with continuous damping control (CDC) dampers place stringent demands on accurate damper-level force tracking. However, the inherent hysteresis, compression–rebound asymmetry, and strong current dependence of the damper force make force control persistently challenging. This paper addresses this challenge with a four-component dynamic model that describes elastic restoring force, velocity-dependent viscous damping force, Bouc–Wen hysteresis force, and an additional force induced by directional asymmetry in a unified framework. Each current-dependent parameter is represented by an exponential saturation function, which naturally ensures bounded and monotonic coefficient mappings at the model level while avoiding empirical clipping. Because the four force components dominate in distinct operating regions, a three-stage hierarchical parameter identification method is further proposed to replace the coupled, single-step identification of all 20 parameters by direct global optimization. Based on the identified model, a feedforward inverse controller is constructed that combines online Bouc–Wen state reconstruction, passivity-based clipping, and Newton iteration to achieve real-time current solution and force tracking. Replacing equal-weight global fitting with the proposed saturation-mapped hierarchical scheme substantially reduces the identification error, from 0.155 to 0.079. In simulation, the inverse controller built on this model attains a force-tracking RMSE of 4.9 N, and hardware-in-the-loop experiments further verify the feasibility and effectiveness of the proposed framework under power-amplifier transport delay and other bench-level non-idealities.

连续阻尼控制半主动减振器物理驱动分层辨识与模型反演前馈控制

余胜东^1,2,3，张铖迪³，陈超^1,2，周宏明^3,4，韩鹏飞^1,2，马金玉⁴
¹浙江亚之星汽车部件有限公司，中国温州市，325400
²浙江戈尔德智能悬架股份有限公司，中国温州市，325200
³温州大学机电工程学院，中国温州市，325035
⁴温州职业技术大学智能制造学院，中国温州市，325035
摘要：配备连续阻尼控制（CDC）减振器的半主动悬架系统对减振器层面的阻尼力精确跟踪提出较高要求。然而，CDC减振器固有的滞回特性、压缩-回弹不对称性以及阻尼力对电流的强依赖性，使其力控制问题始终具有挑战性。针对上述问题，本文建立了一种统一的4分量动力学模型，用于描述弹性恢复力、速度相关黏性阻尼力、Bouc–Wen滞回力以及方向不对称附加力。针对各电流相关参数，采用指数饱和函数进行表征，从而在模型层面自然保证系数映射的有界性与单调性，避免经验性截断处理。考虑到4类力分量分别在不同工况区间内占主导作用，进一步提出一种三阶段分层参数辨识方法，以替代直接全局优化对20个参数进行耦合辨识。基于所辨识模型，进一步构建了结合在线Bouc–Wen状态重构、被动性裁剪与牛顿迭代求解的前馈反演控制器，以实现实时电流求解与阻尼力跟踪。结果表明，相比等权全局拟合方法，所提出的饱和映射分层辨识方法可将辨识误差由0.155显著降低至0.079。基于该模型构建的反演控制器在仿真中实现了4.9 N的力跟踪均方根误差；硬件在环实验进一步验证了该方法在存在功放传输延迟及其他台架非理想因素条件下的可行性与有效性。

关键词：连续阻尼控制减振器；半主动悬架；分层参数辨识；Bouc-Wen模型；模型反演前馈控制；无力传感器力跟踪

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