Design of an Active Suspension Controller with Simple Vehicle Models

Title & Authors
Design of an Active Suspension Controller with Simple Vehicle Models
Yim, Seongjin; Jeong, Jinhwan;

Abstract
This paper presents a method to design a controller for active suspension with 1-DOF decoupled models. Three 1-DOF decoupled models describing vertical, roll and pitch motions are used to design a controller in order to generate a vertical force, roll and pitch moments, respectively. These control inputs are converted into active suspension forces with geometric relationship. To design a controller, a sliding mode control is adopted. Frequency domain analysis and simulation on vehicle simulation software, CarSim$\small{^{(R)}}$, show that the proposed method is effective for ride comfort.
Keywords
active suspension control;1-DOF decoupled models;sliding mode control;LQ SOF control;
Language
Korean
Cited by
1.
Research on Suspension with Novel Dampers Based on Developed FOA-LQG Control Algorithm, Mathematical Problems in Engineering, 2017, 2017, 1563-5147, 1
References
1.
R. S. Sharp and D. A. Crolla, "Road vehicle suspension systems design - a review," Vehicle System Dynamics, vol. 16, pp. 167- 192, 1987.

2.
D. Hrovat, "Survey of advanced suspension developments and related optimal control applications," Automatica, vol. 33, no. 10, pp. 1781-1817, 1997.

3.
C. Kim and P. Ro, "A sliding mode controller for vehicle active suspension systems with non-linearities," Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 212, no. 2, pp. 79-92, Feb. 1998.

4.
J. H. Park and Y. S. Kim, "Decentralized variable structure control for active suspensions base d on a full-car model," Proceedings of the 1998 IEEE International Conference on Control Applications, Trieste, Italy, pp. 383-387, Sep. 1998.

5.
N. Yagiz and I. Yuksek, "Sliding mode control of active suspensions for a full vehicle model," International Journal of Vehicle Design, vol. 26, no. 2/3, pp. 264-276, 2001.

6.
J. Cao, H. Liu, P. Li, and D. J. Brown, "State of the art in vehicle active suspension adaptive control systems based on intelligent methodologies," IEEE Transactions on Intelligent Transportation Systems, vol. 9, no. 3, pp. 392-405, 2008.

7.
D. A. Wilson, R. S. Sharp, and S. A. Hassan, "The application of linear optimal control theory to the design of active automobile suspensions," Vehicle System Dynamics, vol. 15, pp. 105-118, 1987.

8.
M. B. A. Abdel-Hady and D. A. Crolla, "Active suspension control algorithms for a four wheel vehicle model," International Journal of Vehicle Design, vol. 13, no. 2, pp. 144-158, 1992.

9.
S. Ikenaga, F. L. Lewis, J. Campos, and L. Davis, "Active suspension control of ground vehicle based on a full-vehicle model," Proceedings of the American Control Conference 2000, pp.4019-4024, Chicago, Illinois, Jun. 2000.

10.
M. Lakehal-Ayat, S. Diop, and E. Fenaux, "Development of a full active suspension system," 15th Triennial World Congress of the International Federation of Automatic Control, Barcelona, Jul. 2002.

11.
A. E. Bryson and Jr. Y-C. Ho, Applied Optimal Control, Hemisphere, New York, 1975.

12.
K. Uematsu and J. C. Gerdes, "A comparison of several sliding surfaces for stability control," Proceedings of the 6th International Symposium on Advanced Vehicle Control, Hiroshima, Japan 2002.

13.
S. Yim, "Design of a robust controller for rollover prevention with active suspension and differential braking," Journal of Mechanical Science and Technology, vol. 26, no. 1, pp. 213-222, 2012.

14.
N. Hansen, S. D. Muller, and P. Koumoutsakos, "Reducing the time complexity of the derandomized evolution strategy with covariance matrix adaptation (CMA-ES)," Evolutionary Computation, vol. 11, no. 1, pp. 1-18, 2003.

15.
Mechanical Simulation Corporation, CarSim User Manual Version 5, 2001.