An LQG Controller Based on Real System Identification for an Active Hydraulically Interconnected Suspension

Rollover prevention is always one of the research hotspots in vehicle design. Active hydraulically interconnected suspension (HIS) is a promising technology to reduce vehicle body roll angle caused by different driving inputs and road conditions. This paper proposes a novel actuator of the active HIS system. The actuator consists of two cylinders, a ball screw, and only one motor. The actuator proposed can reduce the number of motors needed in the system. Meanwhile, forced vibration identification (FVI) is used to identify the transfer function of a half-car physical model and a Kalman state observer is applied to eliminate the influence of sensor noise. The FVI method can eliminate most model uncertainties and hidden variables. Aggressive and moderate optimal linear quadratic Gaussian (LQG) methods are implemented to control the motion of the vehicle body based on the identified transfer function of the physical model. The performance of an active HIS system with an aggressive and moderate LQG controller is compared with that of a passive HIS system. The effectiveness of the LQG controller is validated by simulation and experimental results. Also, the obtained results show that the stabilization speed of the active HIS system is 20% faster than that of the passive HIS system and the roll angle can be reduced up to 55% than that of the passive HIS system.

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The influence of vehicle body roll angle on the motion stability and maneuverability of the vehicle

Combustion Engines ◽

10.19206/ce-2017-121 ◽

2017 ◽

Vol 168 (1) ◽

pp. 133-139

Author(s):

Krzysztof PARCZEWSKI ◽

Henryk WNĘK

Keyword(s):

Dynamic Change ◽

Steady Motion ◽

Roll Angle ◽

Vehicle Body ◽

Sideslip Angle ◽

Lateral Forces ◽

Camber Angle ◽

Body Roll ◽

Vehicle Motion ◽

The Impact

The article discusses the impact of design solutions of vehicle suspensions into angles of body roll. It was shown which type of suspensions is better from this point of view. There were examined the dependence of the suspensions parameters on the vehicle body roll angle. The influence of camber angle on the force transmitted to the tire contact with the road surface was analysed. The lateral forces were measured on the test stand. There was tested dependency of lateral forces from the sideslip angle for different angles of camber. Was analysed change of lateral forces generated by camber angle on the vehicle which was made on a scale ~ 1:5 during tests carried out on the testing track. For this purpose, two tests have been selected: first one allowing the measurement in steady motion conditions, the second one with dynamic change of direction of vehicle motion. The graphs show the effect of camber angles on the controllability and stability of the vehicle motion.

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Combined CNF with LQR in Improving Ride and Handling for Ground Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.575.749 ◽

2014 ◽

Vol 575 ◽

pp. 749-752 ◽

Cited By ~ 1

Author(s):

Noraishikin Zulkarnain ◽

Hairi Zamzuri ◽

Saiful Amri Mazlan

Keyword(s):

Control Strategy ◽

Ride Comfort ◽

Dynamic Modelling ◽

Performance Comparison ◽

Roll Angle ◽

Vehicle Body ◽

Nonlinear Feedback ◽

Linear Quadratic ◽

Composite Nonlinear Feedback ◽

Roll Rate

This paper presents and analyses a performance comparison between a Linear Quadratic Regulator (LQR) and Composite Nonlinear Feedback (CNF) controllers for an active anti-roll bar (ARB) system. The anti-roll bar system has to balance the trade-off involving ride comfort and handling performance. The basic vehicle dynamic modelling with four degree of freedom (DOF) on half car model is proposed. The design model is validity and the performances of roll angle and roll rate under control of LQR and CNF controller are achieved by using simulation analysis. Both two controllers are modeled in MATLAB/SIMULINK environment. It has to be determined which control strategy delivers better performance with respect to roll angle and the roll rate of half vehicle body to achieve this goal. The result shows, the CNF LQR fusion control strategy improve the performance compared to LQR and CNF control strategy.

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An investigation into the structures of linear quadratic controllers for vehicle rollover prevention

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407012459462 ◽

2012 ◽

Vol 227 (4) ◽

pp. 472-480 ◽

Cited By ~ 7

Author(s):

Seongjin Yim ◽

Chae Wook Lim ◽

Myung-Hwan Oh

Keyword(s):

Linear Quadratic ◽

Rollover Prevention ◽

Vehicle Rollover

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Almost Optimal Linear Quadratic Control Using Stable Switched Controllers

Hybrid Dynamical Systems ◽

10.1007/978-1-4612-0107-6_8 ◽

2002 ◽

pp. 121-128

Author(s):

Andrey V. Savkin ◽

Robin J. Evans

Keyword(s):

Linear Quadratic Control ◽

Linear Quadratic ◽

Optimal Linear

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Optimal Rollover Prevention With Steer by Wire and Differential Braking

Dynamic Systems and Control, Volumes 1 and 2 ◽

10.1115/imece2003-41825 ◽

2003 ◽

Cited By ~ 35

Author(s):

Christopher R. Carlson ◽

J. Christian Gerdes

Keyword(s):

Predictive Control ◽

Stability Control ◽

Roll Angle ◽

Control Law ◽

Control Structures ◽

Yaw Rate ◽

Rollover Prevention ◽

Steer By Wire ◽

Nonlinear Vehicle Model ◽

Double Lane Change

This paper uses Model Predictive Control theory to develop a framework for automobile stability control. The framework is then demonstrated with a roll mode controller which seeks to actively limit the peak roll angle of the vehicle while simultaneously tracking the driver’s yaw rate command. Initially, control law presented assumes knowledge of the complete input trajectory and acts as a benchmark for the best performance any controller could have on this system. This assumption is then relaxed by only assuming that the current driver steering command is available. Numerical simulations on a nonlinear vehicle model show that both control structures effectively track the driver intended yaw rate during extreme maneuvers while also limiting the peak roll angle. During ordinary driving, the controlled vehicle behaves identically to an ordinary vehicle. These preliminary results shows that for double lane change maneuvers, it is possible to limit roll angle while still closely tracking the driver’s intent.

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Optimal linear quadratic control for wireless sensor and actuator networks with random delays and packet dropouts

International Journal of Distributed Sensor Networks ◽

10.1177/1550147718779560 ◽

2018 ◽

Vol 14 (6) ◽

pp. 155014771877956

Author(s):

Zhuwei Wang ◽

Lihan Liu ◽

Chao Fang ◽

Xiaodong Wang ◽

Pengbo Si ◽

...

Keyword(s):

Frequency Control ◽

Optimal Solution ◽

Load Frequency Control ◽

Wireless Sensor ◽

Linear Quadratic Control ◽

Linear Quadratic ◽

Relay Nodes ◽

Packet Dropouts ◽

Frequency Control System ◽

Optimal Linear

In this article, the optimal linear quadratic control problem is considered for the wireless sensor and actuator network with stochastic network-induced delays and packet dropouts. Considering the event-driven relay nodes, the optimal solution is obtained, which is a function of the current plant state and all past control signals. It is shown that the optimal control law is the same for all locations of the controller placement. Since the perfect plant state information is available at the sensor, the optimal controller should be collocated with the sensor. In addition, some issues such as the plant state noise and suboptimal solution are also discussed. The performance of the proposed scheme is investigated by an application of the load frequency control system in power grid.

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Approximate solution to optimal linear quadratic Gaussian control over non-acknowledgment networks

Journal of the Franklin Institute ◽

10.1016/j.jfranklin.2019.11.046 ◽

2020 ◽

Vol 357 (4) ◽

pp. 2049-2066

Author(s):

Hong Lin ◽

Mei Liu ◽

Huaicheng Yan ◽

Jinliang Liu ◽

Shan Lu

Keyword(s):

Approximate Solution ◽

Linear Quadratic ◽

Linear Quadratic Gaussian ◽

Optimal Linear

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Modeling and Speed Tuning of a PMSM with Presence of Fissure Using Dragonfly Algorithm

Applied Sciences ◽

10.3390/app10248823 ◽

2020 ◽

Vol 10 (24) ◽

pp. 8823

Author(s):

Omar Aguilar-Mejía ◽

Abraham Manilla-García ◽

Ivan Rivas-Cambero ◽

Hertwin Minor-Popocatl

Keyword(s):

Control Method ◽

Fault Tolerant ◽

Permanent Magnet Synchronous Motor ◽

Linear Quadratic Control ◽

Linear Quadratic ◽

Search Range ◽

Trajectory Tracking Control ◽

Dragonfly Algorithm ◽

Optimal Linear ◽

Motor Operation

This paper presents a robust trajectory tracking control for a Permanent Magnet Synchronous Motor (PMSM) with consideration a fault, parametric uncertainties and external disturbances by effectively integrating robust optimal linear quadratic control. One kind of fault is considered in the machine, particularly the presence of fissure rotor. The dynamic model of the PMSM with the presence of fissure presents highly non-linear behaviors, which means that tuning is quite complicated, which the tuning was chosen through swarm intelligence optimization (Dragonfly Algorithm). A sensitivity analysis is carried out, in order to limit the search range to minimize the evaluation time. This methodology was used to diminish these defects during motor operation. Simulation results show that the optimal linear quadratic control method has a robust fault-tolerant performance.

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