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Archive of Mechanical Engineering

The Journal of Committee on Machine Building of Polish Academy of Sciences

4 Issues per year

CiteScore 2016: 0.44

SCImago Journal Rank (SJR) 2016: 0.162
Source Normalized Impact per Paper (SNIP) 2016: 0.459

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Volume 60, Issue 1


Modelling and Control of an Electro-Hydraulic Active Suspension System

Oussama Ajala / Dieter Bestle / Jochen Rauh
Published Online: 2013-03-27 | DOI: https://doi.org/10.2478/meceng-2013-0003

Active suspension systems ease the conflict between comfort and handling. This requires the use of suitable actuators that in turn need to be efficiently controlled. This paper proposes a model-based control approach for a nonlinear suspension actuator. Firstly the concept is derived in the linear framework in order to simplify the synthesis and analysis phase. There a linear model of the actuator is proposed and discussed. Further, this design phase includes a comparison between model-free PID controllers and a newly proposed two-degree-of-freedom controller which allows one to shape reference and disturbance responses separately. Subsequently, the two-degree-of-freedom controller, which proves to be superior, is adapted to the nonlinear framework by considering a linear parameter varying representation of the nonlinear plant. Finally, the nonlinear controller is implemented in a test car confirming the concept applicability to real hardware.


Aktywne systemy zawieszenia łagodza konflikt miedzy komfortem a własciwosciami jezdnymi samochodu. Wymagaja one uzycia odpowiednich siłowników, a te z kolei powinny byc efektywnie sterowane. W artykule zaproponowano oparta na modelowaniu koncepcje sterowania nieliniowego siłownika w zawieszeniu samochodu. Koncepcja tego rozwiazania jest poczatkowo przedstawiona w ramach opisu liniowego, co ma uproscic faze syntezy i analizy. Na tym etapie jest proponowany i dyskutowany model liniowy. Ta faza projektowania obejmuje ponadto porównanie miedzy niezwiazanymi z modelem sterownikami PID i proponowanym, nowym sterownikiem o dwu stopniach swobody, który pozwala niezaleznie kształtowac odpowiedz referencyjna i odpowiedz na zakłócenia. W dalszym etapie, dla sterownika o dwu stopniach swobody, który okazał sie lepszy od pozostałych, wprowadza sie opis nieliniowy, traktujac parametr liniowy jak zmienna reprezentacje nieliniowego obiektu regulacji. Ostatecznie, nieliniowy sterownik zawieszenia jest instalowany w samochodzie testowym, a badania potwierdzaja celowosc zastosowania tej koncepcji w rzeczywistym sprzecie.

Keywords : vehicle dynamics; modelling; two-degree-of-freedom control; active suspension; full-car control

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About the article

Published Online: 2013-03-27

Published in Print: 2013-03-01

Citation Information: Archive of Mechanical Engineering, Volume 60, Issue 1, Pages 37–54, ISSN (Print) 0004-0738, DOI: https://doi.org/10.2478/meceng-2013-0003.

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