Abstract
The problem considered in this paper is the design and analysis of control strategies for semiactive suspensions in road vehicles. The most commonly used control framework is the well-known Sky–Hook (SH) damping. Two-state or linear approximation of the SH concept are typically implemented. The goal of this paper is to analyze the optimality of SH-based control algorithms, and to propose an innovative control strategy, named Acceleration-Driven-Damper (ADD) control. It is shown that ADD is optimal in the sense that it minimizes the vertical body acceleration (comfort objective) when no road-preview is available. This control strategy is extremely simple; it requires the same sensors of the SH algorithms, and a simple two-state controllable damper. In order to assess and to compare the closed-loop performance of the SH and ADD control strategies, both a theoretical and a numerical analysis of performance are proposed.
Issue Section:
Technical Papers
1.
Campi
, M. C.
, Lecchini
, A.
, and Savaresi
, S. M.
, 2003. “An Application of the Virtual Reference Feedback Tuning (VRFT) Method to a Benchmark Active Suspension System
,” Eur. J. Control
0947-3580, 9
, pp. 66
–76
.2.
Fialho
, I.
, and Balas
, G. J.
, 2002, “Road Adaptive Active Suspension Design Using Linear Parameter-Varying Gain-Scheduling
,” IEEE Trans. Control Syst. Technol.
1063-6536, 10
, pp. 43
–54
.3.
Foo
, E.
, and Goodall
, R. M.
, 2000, “Active Suspension Control of Flexible-Bodied Railway Vehicles Using Electro-Hydraulic and Electro-Magnetic Actuators
,” Control Eng. Pract.
0967-0661, 8
, pp. 507
–518
.4.
Fu-Cheng
, W.
, and Smith
, M. C.
, 2002, “Controller Parameterization For Disturbance Response Decoupling: Application to Vehicle Active Suspension Control
,” IEEE Trans. Control Syst. Technol.
1063-6536, 10
, pp. 393
–407
.5.
Fujimori
, K.
, Hayakawa
, K.
, Kimura
, H.
, Matsumoto
, K.
, Suzuki
, Y.
, and Yamashita
, M.
, 1999, “Robust H∞ Output Feedback Control of Decoupled Automobile Active Suspension Systems
,” IEEE Trans. Autom. Control
0018-9286, 44
, pp. 392
–396
.6.
Hrovat
, D.
1997. “Survey of Advanced Suspension Developments and Related Optimal Control Applications
.” Automatica
0005-1098, 33
, pp. 1781
–1817
.7.
Kiencke
, U.
, and Nielsen
, L.
, 2000, Automotive Control Systems for Engine, Driveline, and Vehicle
, Springer Verlag
, Berlin.8.
Sammier
, D.
, Sename
, O.
, and Dugard
, L.
(2001). “Comparison of Skyhook and H∞ Control Applied on a Quarter-Car Suspension Model. 3rd IFAC Workshop on Advances in Automotive Control
,” pp. 107
-112
.9.
Sammier
, D.
, Sename
, O.
, and Dugard
, L.
(2003). “Skyhook and H∞ Control of Semiactive Suspensions: Some Practical Aspects
,” Veh. Syst. Dyn.
0042-3114, 39
, pp. 279
–308
.10.
Silani
, E.
, Fischer
, D.
, Savaresi
, S. M.
, Kaus
, E.
, and Isermann
, R.
(2004). “Fault-Tolerant Filtering in Active Vehicle Suspensions
.” FISITA World Automotive Congress
, Barcelona, Spain.11.
Silani
, E.
, Savaresi
, S. M.
, Bittanti
, S.
, Visconti
, A.
, and Farachi
, F.
, 2002. “The Concept of Performance-Oriented Yaw-Control Systems: Vehicle Model and Analysis
.” 2002 SAE Automotive Dynamics & Stability Conference
, Detroit, MI
, pp. 235
–245
. (SAE paper n. 2002-01-1585).12.
Silani
, E.
, Savaresi
, S. M.
, Bittanti
, S.
, Visconti
, A.
, and Farachi
, F.
, 2002, “A Vehicle Model for the DPerformance-Oriented Yaw-Control Systems
,” 15th IFAC World Congress
, Barcelona, Spain
, Paper No. 3028.13.
Valtolina
, E.
, Savaresi
, S. M.
, Bittanti
, S.
, Visconti
, A.
, and Longhi
, A.
(2001). “A Co-Ordinate Approach for the Control of Road Vehicles
.” 6th European Control Conference
, Porto, Portugal
, pp. 629
–634
.14.
Williams
, R. A.
, 1997, “Automotive Active Suspensions Part 1: Basic principles
,” IMechE
, 211
, pp. 415
–426
.15.
Williams
, R. A.
, 1997, “Automotive Active Suspensions Part 2: Practical Considerations
,” IMechE
, 211
, Part D, pp. 427
–444
.16.
Bosch
, 2000, Automotive Handbook
, 5th ed. BOSCH Gmbh
.17.
Caporietto
, R.
, Diamante
, O.
, Fargione
, G.
, Risitano
, A.
, and Tringali
, D.
, 2003, “A Soft Computing Approach to Fuzzy Sky–Hook Control of Semiactive Suspension
,” IEEE Trans. Control Syst. Technol.
1063-6536, 11
, pp. 786
–798
.18.
Choi
, S. B.
, Choi
, J. H.
, Lee
, Y. S.
, and Han
, M. S.
, 2003, “Vibration Control of an ER Seat Suspension for a Commercial Vehicle
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 125
, pp. 60
–68
.19.
Choi
, S. B.
, Park
, D. W.
, and Suh
, M. S.
, 2002, “Fuzzy Sky-Ground Hook Control of a Tracked Vehicle Featuring Semi-Active Electrorheological Suspension Units
,” ASME J. Dyn. Syst., Meas., Control
0022-0434, 124
, pp. 150
–157
.20.
Giuia
, A.
, Seatzu
, C.
, and Usai
, G.
, 1999, “Semiactive Suspension Design with an Optimal Gain Switching Target
,” Veh. Syst. Dyn.
0042-3114, 31
, pp. 213
–232
.21.
Hong
, K. S.
, Sohn
, H. C.
, and Hedrick
, J. K.
2003. “Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning
.” ASME J. Dyn. Syst., Meas., Control
0022-0434, 124
, pp. 158
–167
.22.
Kitching
, K. J.
, Cole
, D. J.
, and Cebon
, D.
2000. “Performance of a Semi-Active Damper for Heavy Vehicles
.” ASME J. Dyn. Syst., Meas., Control
0022-0434, 122
, pp. 498
–506
.23.
Nakai
, H.
, Oosaku
, S.
, and Motozono
, Y.
2000. “Application of Practical Observer to Semi-Active Suspensions
.” ASME J. Dyn. Syst., Meas., Control
0022-0434, 122
, pp. 284
–289
.24.
Yoshida
, K.
, and Okamoto
, B.
, 1999, “Bilinear Disturbance-Accommodating Optimal Control of Semiactive Suspension for Automobiles
,” IEEE International Conference on Control Applications
, pp. 1496
–1501
.25.
Nijmeijer
, H.
, and Savaresi
, S. M.
(1998). “On Approximate Model-Reference Control of SISO Discrete-Time Nonlinear Systems
.” Automatica
0005-1098, 34
, pp. 1261
–1266
.26.
Tseng
, H. E.
, and Hedrick
, J. K.
, 1994, “Semi-Active Control Laws - Optimal and Sub-Optimal
,” Veh. Syst. Dyn.
0042-3114, 23
, pp. 545
–569
.27.
Hrovat
, D.
, Margolis
, D. L.
, and Hubbard
, M.
1988. “An Approach Toward the Optimal Semi-Active Suspension
.” ASME J. Dyn. Syst., Meas., Control
0022-0434, 110
, pp. 288
–296
.28.
Gillespie
, T. D.
, 1992, “Fundamentals of Vehicle Dynamics
.” Society of Automotive Engineers Inc.
29.
Fischer
, D.
, and Isermann
, R.
, 2003, “Mechatronic Semiactive and Active Vehicle Suspensions
,” Control Eng. Pract.
0967-0661, (to published).30.
Spencer
, B. F.
Jr., Dyke
, S. J.
, Sain
, M. K.
, and Carlson
, J. D.
(2003). “Phenomenological Model of a Magnetorheological Damper
.” ASCE J. Eng. Mech.
0733-9399, 123
, pp. 230
–238
.31.
Bertsekas
, D. P.
, 2000, Dynamic Programming and Optimal Control
, 2nd ed., Athena Scientific
.32.
Savkin
, A. V.
, and Evans
, R. J.
, 2002, Hybrid Dynamical Systems
, Birkhauser
, (to be published).33.
Savaresi
, S. M.
, Silani
, E.
, Bittanti
, S.
, and Porciani
, N.
2003. “On Performance Evaluation Methods and Control Strategies for Semi-Active Suspension Systems
.” 42nd Control and Decision Conference
, Maui, Hawaii, USA
, pp. 2264
–2269
.34.
35.
Dunstan
, W.
, Bitmead
, R. R.
, and Savaresi
, S. M.
, 2001, “Fitting Nonlinear Low-Order Models for Combustion Instability Control
,” Control Eng. Pract.
0967-0661, 9
, pp. 1301
–1317
.36.
Gelb
, A.
, and Van der Velde
, W. E.
, 1968, Multiple-Input Describing Functions and Nonlinear System Design
, McGraw–Hill
, New York.37.
Savaresi
, S. M.
, Bitmead
, R.
, and Dunstan
, W.
2001. “Nonlinear System Identification Using Closed-Loop Data With No External Excitation: The Case of a Lean Combustion Process
.” Int. J. Control
0020-7179, 74
, pp. 1796
–1806
.38.
Bittanti
, S.
, and Picci
, G.
, eds., 1996, Identification, Adaptation, Learning - The Science of Learning Models from Data. Computer and Systems Sciences Series
, Springer-Verlag
, Berlin.39.
Bittanti
, S.
, and Savaresi
, S. M.
, 2000, “On the Parametrization and Design of an Extended Kalman Filter Frequency Tracker
,” IEEE Trans. Autom. Control
0018-9286, 45
, pp. 1718
–1724
.40.
Guardabassi
, G. O.
, and Savaresi
, S. M.
(2001). “Approximate Linearization via Feedback - An Overview
,” Automatica
0005-1098, 27
, pp. 1
–15
.41.
Guardabassi
, G. O.
, and Savaresi
, S. M.
1997. “Approximate Feedback Linearization of Discrete-Time Non-Linear Systems Using Virtual Input Direct Design
,” Syst. Control Lett.
0167-6911, 32
, pp. 63
–74
.42.
Guzzella
, L.
and Isidori
, A.
1993. “On Approximate Linearization of Nonlinear Control Systems
.” Int. J. Robust Nonlinear Control
1049-8923, 3
, pp. 261
–276
.43.
Pintelon
, R.
, and Schoukens
, J.
2001, System Identification, a Frequency Domain Approach
, IEEE
, New York.44.
Savaresi
, S. M.
, and Guardabassi
, G. O.
1998. “Approximate I/O Feedback Linearization of Discrete-Time Non-Linear Systems Via Virtual Input Direct Design
.” Automatica
0005-1098, 34
, pp. 715
–722
.45.
Savaresi
, S. M.
, Taroni
, F.
, Previdi
, F.
, and Bittanti
, S.
(2004). “Control System Design on a Power-Split CVT for High-Power Agricultural Tractors
.” IEEE/ASME Trans. Mechatron.
1083-4435, (to be published).46.
Schoukens
, J.
, Pintelon
, R.
, Rolain
, Y.
, and Dobrowiecki
, T.
, 2001. “Frequency Response Function Measurements in the Presence of Nonlinear Distortions
.” Automatica
0005-1098, 37
, pp. 939
–946
.47.
Stack
, A. J.
and Doyle
, F. J.
, III (1995). “A Measure for Control Relevant Nonlinearity
.” American Control Conference
, Seattle
, pp. 2200
-2204
.48.
Isermann
, R.
, 2003, Mechatronic Systems: Fundamentals
Springer Verlag
, UK.49.
Kawabe
, T.
, Isobe
, O.
, Watanabe
, Y.
, Hanba
, S.
, and Miyasato
, Y.
1998, “New Semiactive Suspension Controller Design Using Quasi-Linearization and Frequency Shaping
.” Control Eng. Pract.
0967-0661, 6
, n. 10
, p. 1183
–1191
.50.
Valasek
, M.
, Kortum
, W.
, Sika
, Z.
, Magdolen
, L.
, and Vaculin
, O.
1998, “Development of Semiactive Road-Friendly Truck Suspensions
,” Control Eng. Pract.
0967-0661, 6
, pp. 735
–744
.Copyright © 2005
by American Society of Mechanical Engineers
You do not currently have access to this content.
