In this paper, a road adaptive modified skyhook control for the semi-active Macpherson strut suspension system of hydraulic type is investigated. A new control-oriented model, which incorporates the rotational motion of the unsprung mass, is introduced. The control law extends the conventional skyhook-groundhook control scheme and schedules its gains for various road conditions. Using the vertical acceleration data measured, the road conditions are estimated by using the linearized new model developed. Two filters for estimating the absolute velocity of the sprung mass and the relative velocity in the rattle space are also designed. The hydraulic semi-active actuator dynamics are incorporated in the hardware-in-the-loop tuning stage of the control algorithm developed. The optimal gains for the ISO road classes are discussed. Experimental results are included.
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March 2002
Technical Papers
Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning
Keum-Shik Hong,
Keum-Shik Hong
School of Mechanical Engineering
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Hyun-Chul Sohn,
Hyun-Chul Sohn
Department of Mechanical and Intelligent Systems Engineering, Pusan National University, 30 Changjeon-dong, Kumjeong-ku, Pusan 609-735, Korea
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J. Karl Hedrick
J. Karl Hedrick
Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94720-1740
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Keum-Shik Hong
School of Mechanical Engineering
Hyun-Chul Sohn
Department of Mechanical and Intelligent Systems Engineering, Pusan National University, 30 Changjeon-dong, Kumjeong-ku, Pusan 609-735, Korea
J. Karl Hedrick
Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94720-1740
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division May 1, 2000. Associate Editor: S. Sivashankar.
J. Dyn. Sys., Meas., Control. Mar 2002, 124(1): 158-167 (10 pages)
Published Online: May 1, 2000
Article history
Received:
May 1, 2000
Citation
Hong, K., Sohn, H., and Hedrick, J. K. (May 1, 2000). "Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning ." ASME. J. Dyn. Sys., Meas., Control. March 2002; 124(1): 158–167. https://doi.org/10.1115/1.1434265
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