Jump to ContentJump to Main Navigation
Show Summary Details
More options …

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

Open Access
Online
ISSN
2300-1895
See all formats and pricing
More options …
Volume 60, Issue 1 (Mar 2013)

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.

Streszczenie

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

  • [1] Cao J., Liu H., Li P., Brown D.J.: State of the Art in Vehicle Active Suspension Adaptive Control Systems Based on Intelligent Methodologies. IEEE Transactions on Intelligent Transportation Systems, Vol. 9, pp. 392-405, 2008.Web of ScienceGoogle Scholar

  • [2] Cao D., Song S., Ahmadian M.: Editors’s Perspectives: Road Vehicle Suspension Design, Dynamics, and Control. Vehicle System Dynamics, Vol. 49, pp. 3-28, 2011.Web of ScienceGoogle Scholar

  • [3] Esmailzadeh E., Taghirad H.D.: State-Feedback Control for Passenger Ride Dynamics. The Transactions of the Canadian Society for Mechanical Engineering, Vol. 19, pp. 495-508, 1995.Google Scholar

  • [4] Fialho I., Balas G.J.: Road Adaptive Active Suspension Design Using Linear Parameter- Varying Gain-Scheduling. IEEE Transactions on Control Systems Technology, Vol. 10, pp. 43-54, 2002.Google Scholar

  • [5] Du H., Zhang N.: Constrained H1 Control of Active Suspension for a Half-car Model with a Time Delay in Control. Proceedings of IMechE, Part D: Journal of Automobile Engineering, Vol. 222, pp. 665-508, 2008.Google Scholar

  • [6] Bluethmann B., Herrera E., Hulse A., Figuered J., Junkin L., Markee M., Ambrose R.O.: An Active Suspension System For Lunar Crew Mobility. IEEE Aerospace Conference, Big Sky, MT, USA, pp. 1-9, 2010.Google Scholar

  • [7] Lauwerys C., Swevers J., Sas P.: Linear Control of Car Suspension Using Nonlinear Actuator Control. Proceedings of the International Conference on Noise and Vibration Engineering, Leuven, Belgium, pp. 55-61, 2002.Google Scholar

  • [8] Koch G., Fritsch O., Lohmann B.: Potential of Low Bandwidth Active Suspension Control with Continuously Variable Damper. Proceedings of the 17th IFAC World Congress, Seoul, Korea, pp. 3392-3397, 2008.Google Scholar

  • [9] Cytrynski S.: Federungssystem f¨ur ein Fahrzeug. Patent DE102010007237A1, 2010.Google Scholar

  • [10] Cominos P., Munro N.: PID Controllers: Recent Tuning Methods and Design to Specification. IEE Proceedings - Control Theory and Applications, Vol. 149, pp. 46-53, 2002.Google Scholar

  • [11] Kamen E.W., Khargonekar P.P.: On the Control of Linear Systems whose Coefficients Are Functions of Parameters. IEEE Transactions on Automatic Control, Vol. 29, pp. 25-23, 1984.CrossrefGoogle Scholar

  • [12] Ajala O., Bestle D., Rauh J., Ammon D.: Zero-phase Filtering Control of an Active Suspension System with Preview. Proceedings of the 11th International Symposium on Advanced Vehicle Control, Seoul, Korea, 2012.Google Scholar

About the article

Published Online: 2013-03-27

Published in Print: 2013-03-01


Citation Information: Archive of Mechanical Engineering, ISSN (Print) 0004-0738, DOI: https://doi.org/10.2478/meceng-2013-0003.

Export Citation

This content is open access.

Comments (0)

Please log in or register to comment.
Log in