Ride Comfort Optimization via Speed Planning and Preview Semi-Active Suspension Control for Autonomous Vehicles on Uneven Roads

2020 ◽  
Vol 69 (8) ◽  
pp. 8343-8355 ◽  
Author(s):  
Jian Wu ◽  
Hongliang Zhou ◽  
Zhiyuan Liu ◽  
Mingqin Gu
Keyword(s):  
Autonomous Vehicles ◽  
Ride Comfort ◽  
Active Suspension ◽  
Suspension Control

Comprehensive Analysis for Influence of Controllable Damper Time Delay on Semi-Active Suspension Control Strategies

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Yechen Qin ◽  
Feng Zhao ◽  
Zhenfeng Wang ◽  
Liang Gu ◽  
Mingming Dong
Keyword(s):  
Time Delay ◽  
Dynamic Characteristics ◽  
Ride Comfort ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Active Suspension ◽  
Test System ◽  
Suspension Control ◽  
Simulation Results

This paper presents a comprehensive comparison and analysis for the effect of time delay on the five most representative semi-active suspension control strategies, and refers to four unsolved problems related to semi-active suspension performance and delay mechanism that existed. Dynamic characteristics of a commercially available continuous damping control (CDC) damper were first studied, and a material test system (MTS) load frame was used to depict the velocity-force map for a CDC damper. Both inverse and boundary models were developed to determine dynamic characteristics of the damper. In addition, in order for an improper damper delay of the form t+τ to be corrected, a delay mechanism of controllable damper was discussed in detail. Numerical simulation for five control strategies, i.e., modified skyhook control SC, hybrid control (HC), COC, model reference sliding mode control (MRSMC), and integrated error neuro control (IENC), with three different time delays: 5 ms, 10 ms, and 15 ms was performed. Simulation results displayed that by changing control weights/variables, performance of all five control strategies varied from being ride comfort oriented to being road handling oriented. Furthermore, increase in delay time resulted in deterioration of both ride comfort and road handling. Specifically, ride comfort was affected more than road handling. The answers to all four questions were finally provided according to simulation results.

scholarly journals Active Vehicle Suspension with Anti-Roll System Based on Advanced Sliding Mode Controller

Energies ◽  
2020 ◽  
Vol 13 (21) ◽  
pp. 5560
Author(s):  
Jarosław Konieczny ◽  
Marek Sibielak ◽  
Waldemar Rączka
Keyword(s):  
Ride Comfort ◽  
Sliding Mode ◽  
Synthesis Method ◽  
Active Suspension ◽  
Vehicle Suspension ◽  
Sliding Mode Controller ◽  
Energy Consumption Optimization ◽  
Suspension Control ◽  
Vertical Displacements ◽  
Linear Regulators

In the paper authors consider the active suspension of the wheeled vehicle. The proposed controller consists of a sliding mode controller used to roll reduction and linear regulators with quadratic performance index (LQRs) for struts control was shown. The energy consumption optimization was taken into account at the stage of strut controllers synthesis. The studied system is half of the active vehicle suspension using hydraulic actuators to increase the ride comfort and keeping safety. Instead of installing additional actuators in the form of active anti-roll bars, it has been decided to expand the active suspension control algorithm by adding extra functionality that accounts for the roll. The suggested algorithm synthesis method is based on the object decomposition into two subsystems whose controllers can be synthesized separately. Individual suspension struts are controlled by actuators that use the controllers whose parameters have been calculated with the LQR method. The mathematical model of the actuator applied in the work takes into account its nonlinear nature and the dynamics of the servovalve. The simulation tests of the built active suspension control system have been performed. In the proposed solution, the vertical displacements caused by uneven road surface are reduced by controllers related directly to suspension strut actuators.

Analytical and Experimental Evaluation of Various Active Suspension Alternatives for Superior Ride Comfort and Utilization of Autonomous Vehicles

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Ivan Cvok ◽  
Mario Hrgetić ◽  
Matija Hoić ◽  
Joško Deur ◽  
Davor Hrovat ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
High Performance ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Vertical Acceleration ◽  
Linear Quadratic ◽  
Seat Suspension ◽  
Road Disturbance

Abstract Autonomous vehicles (AVs) give the driver opportunity to engage in productive or pleasure-related activities, which will increase AV’s utility and value. It is anticipated that many AVs will be equipped with active suspension extended with road disturbance preview capability to provide the necessary superior ride comfort resulting in almost steady work or play platform. This article deals with assessing the benefits of introducing various active suspensions and related linear quadratic regulator (LQR) controls in terms of improving the work/leisure ability. The study relies on high-performance shaker rig-based tests of a group of 44 drivers involved in reading/writing, drawing, and subjective ride comfort rating tasks. The test results indicate that there is a threshold of root-mean-square vertical acceleration, below which the task execution performance is similar to that corresponding to standstill conditions. For the given, relatively harsh road disturbance profile, only the fully active suspension with road preview control can suppress the vertical acceleration below the above critical superior comfort threshold. However, when adding an active seat suspension, the range of chassis suspension types for superior ride comfort is substantially extended and can include semi-active suspension and even passive suspension in some extreme cases that can, however, lead to excessive relative motion between the seat and the vehicle floor. The design requirements gained through simulation analysis, and extended with cost and packaging requirements related to passenger car applications, have guided design of two active seat suspension concepts applicable to the shaker rig and production vehicles.

scholarly journals Design of Static Output Feedback and Structured Controllers for Active Suspension with Quarter-Car Model

Energies ◽  
2021 ◽  
Vol 14 (24) ◽  
pp. 8231
Author(s):  
Manbok Park ◽  
Seongjin Yim
Keyword(s):  
Output Feedback ◽  
Ride Comfort ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Static Output Feedback ◽  
State Variables ◽  
Linear Quadratic ◽  
Suspension Control ◽  
Quarter Car ◽  
Static Output

This paper presents a method to design active suspension controllers for a 7-Degree-of-Freedom (DOF) full-car (FC) model from controllers designed with a 2-DOF quarter-car (QC) one. A linear quadratic regulator (LQR) with 7-DOF FC model has been widely used for active suspension control. However, it is too hard to implement the LQR in real vehicles because it requires so many state variables to be precisely measured and has so many elements to be implemented in the gain matrix of the LQR. To cope with the problem, a 2-DOF QC model describing vertical motions of sprung and unsprung masses is adopted for controller design. LQR designed with the QC model has a simpler structure and much smaller number of gain elements than that designed with the FC one. In this paper, several controllers for the FC model are derived from LQR designed with the QC model. These controllers can give equivalent or better performance than that designed with the FC model in terms of ride comfort. In order to use available sensor signals instead of using full-state feedback for active suspension control, LQ static output feedback (SOF) and linear quadratic Gaussian (LQG) controllers are designed with the QC model. From these controllers, observer-based controllers for the FC model are also derived. To verify the performance of the controllers for the FC model derived from LQR and LQ SOF ones designed with the QC model, frequency domain analysis is undertaken. From the analysis, it is confirmed that the controllers for the FC model derived from LQ and LQ SOF ones designed with the QC model can give equivalent performance to those designed with the FC one in terms of ride comfort.

Active Suspension of Output Feedback Robust Control Based on LMI Approach

Volume 1 ◽  
2004 ◽  
Author(s):  
Zhiqiang Gu ◽  
S. Olutunde Oyadiji
Keyword(s):  
Robust Control ◽  
Ride Comfort ◽  
Control Method ◽  
Active Suspension ◽  
Ride Quality ◽  
Control Methods ◽  
The Past ◽  
Suspension Control ◽  
Load Carrying ◽  
Automotive Suspension

Traditionally automotive suspension designs have been a compromise between the three conflicting criteria of road holding, load-carrying and passenger comfort. Active and semiactive suspension control methods have been considered as ways of increasing the freedom one has to specify independently the characteristics of load carrying, handling and ride quality. Consequently, these control methods have been enthusiastically investigated in the past decades. In this paper, active suspension control based on LMIs, including H∞ control and mixed H2/H∞ synthesis has been developed in this paper. The simulation results demonstrate that robust control method can suppress disturbance from road inputs, thus improving the ride comfort and maintaining the good road handling. The mixed H2/H∞ synthesis can provide both the robustness of H∞ control and the better performance of H2 (LQR) method.

Active Suspension Control for an Off-Road Vehicle

1987 ◽  
Vol 201 (1) ◽  
pp. 1-10 ◽  
Author(s):  
D A Crolla ◽  
D N L Horton ◽  
R H Pitcher ◽  
J A Lines
Keyword(s):  
Attitude Control ◽  
Ride Comfort ◽  
Active Suspension ◽  
Active System ◽  
Road Vehicle ◽  
Suspension Systems ◽  
Body Attitude ◽  
Active Suspension Systems ◽  
Suspension Control ◽  
Recent Developments

After a review of recent developments in active suspension systems, a semi-active system fitted to an off-road vehicle is described. Theoretically predicted results are presented alongside data measured on the actual vehicle. The benefits of the semi-active system over a passive suspension are improved ride comfort and improved body attitude control.

The Implementation of Skyhook Control for Semi-Active Suspension Based on Vi-CarRealTime

2015 ◽  
Vol 713-715 ◽  
pp. 748-751 ◽  
Author(s):  
Bo Wei Bi ◽  
Fang Xiao
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Active Suspension ◽  
Vehicle Model ◽  
Control Range ◽  
Control Signals ◽  
Suspension Control ◽  
Automobile Suspension ◽  
Simulation Results ◽  
Damper Control

The research of semi active suspension control strategy once was a hot point in the field of automobile suspension [2, 3], but it is difficult to achieve for most of them. I choose VI-CarRealTime to build vehicle model based on ADAMS vehicle model. Kalman Filter designed based on 1/2 vehicle model supply control signals for controller. Considering characteristics of CDC damper, Skyhook control strategy is applied for simulation, the simulation results show that, Skyhook Control can improve vehicle ride comfort in CDC damper control range.

scholarly journals Vibration Control of Semi-Active Suspension System using Modified Skyhook with Advanced Firefly Algorithm

2021 ◽  
Vol 2129 (1) ◽  
pp. 012014
Author(s):  
M H Ab Talib ◽  
I Z Mat Darus ◽  
H M Yatim ◽  
M S Hadi ◽  
N M R Shaharuddin ◽  
...  
Keyword(s):  
Firefly Algorithm ◽  
Ride Comfort ◽  
Active Suspension ◽  
The Body ◽  
Matlab Simulation ◽  
The Road ◽  
Vehicle System ◽  
Road Profile ◽  
Control Scheme ◽  
Suspension Control

Abstract The semi-active suspension (SAS) system is a partial suspension device used in the vehicle system to improve the ride comfort and road handling. Due to the high non-linearity of the road profile disturbances plus uncertainties derived from vehicle dynamics, a conventional Skyhook controller is not deemed enough for the vehicle system to improve the performance. A major problem of the implementation of the controller is to optimize a proper parameter as this is an important element in demanding a good controller response. An advanced Firefly Algorithm (AFA) integrated with the modified skyhook (MSky) is proposed to enhance the robustness of the system and thus able to improve the vehicle ride comfort. In this paper, the controller scheme to be known as MSky-AFA was validated via MATLAB simulation environment. A different optimizer based on the original firefly algorithm (FA) is also studied in order to compute the parameter of the MSky controller. This control scheme to be known as MSky-FA was evaluated and compared to the proposed MSky-AFA as well as the passive suspension control. The results clearly exhibit more superior and better response of the MSky-AFA in reducing the body acceleration and displacement amplitude in comparison to the MSky-FA and passive counterparts for a sinusoidal road profile condition.

Based on Single Neuron PID Control of Vehicle Active Suspension System

2013 ◽  
Vol 380-384 ◽  
pp. 528-531 ◽  
Author(s):  
Xiao Feng Liu ◽  
Xin Hua Xie
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Single Neuron ◽  
Ride Comfort ◽  
Control Strategies ◽  
Active Suspension ◽  
Vital Role ◽  
Suspension System ◽  
Suspension Control ◽  
Single Neuron Pid

Relative to the passive suspension, automotive active suspension car driving more ride comfort and stability, has a vital role to further improve the performance of the vehicle. For such a typically complex active suspension system research, the key issue is the selection of control strategies. The problems in the currently active suspension control strategy, the principle of a simple, effective, this paper, a single neuron PID control strategy used in the automotive active suspension system. The results show that compared with other control strategies, single neuron PID control strategy is reliable, has more advantages.

Sign in / Sign up

Export Citation Format

Share Document