Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지

Hybrid Control of an Active Suspension System with Full-Car Model Using H$_{}$$\infty$/ and Nonlinear Adaptive Control Methods

  • Bui, Trong-Hieu (Dept. of Mechanical Eng., College, Pukyong National University) ;
  • Suh, Jin-Ho (Dept. of Mechanical Eng., College, Pukyong National University) ;
  • Kim, Sang-Bong (Dept. of Mechanical Eng., College, Pukyong National University) ;
  • Nguyen, Tan-Tien (Dept. of Mechanical Eng., Hochiminh City University of Technology 268 Ly Thuong Kiet Str., Dist.)
  • Published : 2002.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents hybrid control of an active suspension system with a full-car model by using H$\sub$$\infty$/ and nonlinear adaptive control methods. The full-car model has seven degrees of freedom including heaving, pitching and rolling motions. In the active suspension system, the controller shows good performance: small gains from the road disturbances to the heaving, pitching and rolling accelerations of the car body. Also the controlled system must be robust to system parameter variations. As the control method, H$\sub$$\infty$/ controller is designed so as to guarantee the robustness of a closed-loop system in the presence of uncertainties and disturbances. The system parameter variations are taken into account by multiplicative uncertainty model and the system robustness is guaranteed by small gain theorem. The active system with H$\sub$$\infty$/ controller can reduce the accelerations of the car body in the heaving, pitching and rolling directions. The nonlinearity of a hydraulic actuator is handled by nonlinear adaptive control based on the back-stepping method. The effectiveness of the controllers is verified through simulation results in both frequency and time domains.

Keywords

References

  1. Andrew Alleyne and J. Karl Hedrick, 1995, 'Nonlinear Adaptive Control of Active Suspensions,' IEEE Transaction on Control Systems Technology, Vol. 3, No.1, pp. 94-101 https://doi.org/10.1109/87.370714
  2. Bahram Shahian and Michael Hassul, 1993, Control System Design Using Matlab, Prentice-Hall International, Inc.
  3. Doyle, J. C., Glover, K., Khargonekar, P. and Francis, B., 1989, 'State-Space Solutions to Standard $H_2$ and $H_{infty}$ Control Problem,' IEEE Transaction on Automatic Control, Vol. 34, No.8, pp.831-847 https://doi.org/10.1109/9.29425
  4. Herbert E., 1967, Merritt, Hydraulic Control Systems, John Wiley & Sons, Inc.
  5. Jong H. Park and Young S. Kim, 1998, 'Decentralized Variable Structure Control for Active Suspensions Based on a Full-Car Model,' Proceeding of the 1998 IEEE, International Conference on Control Applications, pp. 383-387, Italy https://doi.org/10.1109/CCA.1998.728460
  6. Jung-Shan Lin and Ioannis Kanellakopoulos, 1997, 'Nonlinear Design of Active Suspensions,' IEEE Control Systems Magazine, Vol. 17, No.3, pp.45-59 https://doi.org/10.1109/37.588129
  7. Katsuhisa Furuta, Akira Sano and Derek Atherton, 1988, State Variable Methods in Automatic Control, John Wiley & Sons, Inc.
  8. Kemin Zhon and John C. Doyle, 1998, Essentials of Robust Control, Prentice-Hall International, Inc.
  9. Krstic, M., Kanellakopoulos, I., and Kokotovic, P., 1995, Nonlinear and Adaptive Control Design, John Wiley & Sons, Inc.
  10. Nguyen, T. T. 1998, 'Control of Active Suspension System by Using $H_{limit}$ Theory,' MS. Thesis, PKNU, Korea
  11. Nguyen, T. T., Nguyen, V. G. and Kim, S. B., 2000, 'Control of Active Suspension System by Using $H_{limit}$ Theory,' lCASE Transaction on Control, Automation and System Engineering, Vol. 2, No. 1, pp. 1-6
  12. Takanori Fukao, Arika Yamawaki and Norihiko Adachi, 1999, 'Nonlinear and $H_{limit}$ Control of Active Suspension Systems with Hydraulic Actuators,' Proceeding of the 38th Conference on Decision and Control, pp. 5125 - 5128, Phoenix
  13. Thomas D. Gillespie, 1992, Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, Inc.
  14. Yong Ha Jung, Jae Weon Choi and Young Bong Seo, 2000, 'Overlapping Decentralized EA Control Design for an Active Suspension System of a Full Car Model,' Proceeding of the SlCE 2000, pp. 85-90, Iizuka https://doi.org/10.1109/SICE.2000.889658