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Advances in active suspension Systems for Road Vehicles

Engineering 2024年第2期33卷 160-177页

作者： Min Yu Simos AEvangelou Daniele Dini Department of Mechanical Engineering Imperial College LondonLondon SW72AZUK Department of Electrical and Electronic Engineering Imperial College LondonLondon SW72AZUK

active suspension systems(ASSs)have been proposed and developed for a few decades,and have now once again become a thriving topic in both academia and industry,due to the high demand for driving comfort and safety and the compatibility of ASSs with vehicle electrification and autonomy.Existing review papers on ASSs mainly cover dynamics modeling and robust control;however,the gap between academic research outcomes and industrial application requirements has not yet been bridged,hindering most ASS research knowledge from being transferred to vehicle companies.This paper comprehensively reviews advances in ASSs for road vehicles,with a focus on hardware structures and control strategies.In particular,state-of-the-art ASSs that have been recently adopted in production cars are discussed in detail,including the representative solutions of Mercedes active body control(ABC)and Audi predictive active suspension;novel concepts that could become alternative candidates are also introduced,including series active variable geometry suspension,and the active wheel-alignment system.ASSs with compact structure,small mass increment,low power consumption,high-frequency response,acceptable economic costs,and high reliability are more likely to be adopted by car manufacturers.In terms of control strategies,the development of future ASSs aims not only to stabilize the chassis attitude and attenuate the chassis vibration,but also to enable ASSs to cooperate with other modules(e.g.,steering and braking)and sensors(e.g.,cameras)within a car,and even with high-level decision-making(e.g.,reference driving speed)in the overall transportation system-strategies that will be compatible with the rapidly developing electric and autonomous vehicles.

关键词： active suspension Vehicle dynamics Robust control Ride comfort Chassis attitude

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Output feedback control and parameters influence analysis of active suspension electro-hydraulic servo actuator

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High Technology Letters 2023年第2期29卷 159-165页

作者：张伟 ZHAO Dingxuan GONG Mingde School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004P.R.China Key Laboratory of Special Carrier Equipment of Hebei Province Yanshan UniversityQinhuangdao 066004P.R.China

The hydraulic servo actuator of heavy vehicle active suspension is investigated to clarify the correlation between system parameters and the control characteristics of active suspension hydraulic servo system.Accordingly, a nonlinear physical model of electro-hydraulic servo active suspension system is built.Compared with the conventional nonlinear modeling, the model in this study considers the asymmetry of working areas caused by single rod hydraulic cylinder in the suspension system.In accordance with the model, a nonlinear output feedback controller based on backstepping is designed, and the effectiveness of the controller is proved based on the experimental platform.The dynamic response curve of the electro-hydraulic servo control system under the change of parameters is generated based on the simulation model.The sensitivity of electro-hydraulic servo control performance to the change of system physical parameters is investigated, and two evaluation indexes are proposed to quantify and compare the effect of all physical parameter changes on position control system.As revealed by the results, the position control characteristics of suspension actuator are more sensitive to the changes of flow gain of the servo valve, system supply oil pressure and effective working areas of cylinder, and the two evaluation indexes are over 10 times higher than other physical parameters.

关键词： active suspension nonlinear hydraulic servo actuator output feedback

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Sampled-Data Asynchronous Fuzzy Output Feedback Control for active suspension Systems in Restricted Frequency Domain

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IEEE/CAA Journal of Automatica Sinica 2021年第5期8卷 1052-1066页

作者： Wenfeng Li Zhengchao Xie Yucong Cao Pak Kin Wong Jing Zhao the School of Mechanical and Automotive Engineering South China University of TechnologyGuangzhou 510641China the Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing South China University of TechnologyGuangzhou 510641China the Automotive Engineering Institute Guangzhou Automotive Group CompanyLtd.Guangzhou 510640China the Department of Electromechanical Engineering University of MacaoMacaoChina

This paper proposes a novel sampled-data asynchronous fuzzy output feedback control approach for active suspension systems in restricted frequency domain.In order to better investigate uncertain suspension dynamics,the sampleddata Takagi-Sugeno(T-S)fuzzy half-car active suspension(HCAS)system is considered,which is further modelled as a continuous system with an input delay.Firstly,considering that the fuzzy system and the fuzzy controller cannot share the identical premises due to the existence of input delay,a reconstructed method is employed to synchronize the time scales of membership functions between the fuzzy controller and the fuzzy system.Secondly,since external disturbances often belong to a restricted frequency range,a finite frequency control criterion is presented for control synthesis to reduce conservatism.Thirdly,given a full information of state variables is hardly available in practical suspension systems,a two-stage method is proposed to calculate the static output feedback control gains.Moreover,an iterative algorithm is proposed to compute the optimum solution.Finally,numerical simulations verify the effectiveness of the proposed controllers.

关键词： active suspension asynchronous constraints output feedback restricted frequency domain sampled-data control Takagi-Sugeno(T-S)fuzzy

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Robust active suspension Design Subject to Vehicle Inertial Parameter Variations

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International Journal of Automation and computing 2010年第4期7卷 419-427页

作者： Hai-Ping Du Nong Zhang School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong NSW 2522 Australia Mechatronics and Intelligent Systems Faculty of Engineering University of Technology Broadway NSW 2007 Australia

This paper presents an approach in designing a robust controller for vehicle suspensions considering changes in vehicle inertial properties. A four-degree-of-freedom half-car model with active suspension is studied in this paper, and three main performance requirements are considered. Among these requirements, the ride comfort performance is optimized by minimizing the Ho~ norm of the transfer function from the road disturbance to the sprung mass acceleration, while the road holding performance and the suspension deflection limitation are guaranteed by constraining the generalized H2 （GH2） norms of the transfer functions from the road disturbance to the dynamic tyre load and the suspension deflection to be less than their hard limits, respectively. At the same time, the controller saturation problem is considered by constraining its peak response output to be less than a given limit using the GH2 norm as well. By solving the finite number of linear matrix inequalities （LMIs） with the minimization optimization procedure, the controller gains, which are dependent on the time-varying inertial parameters, can be obtained. Numerical simulations on both frequency and bump responses show that the designed parameter-dependent controller can achieve better active suspension performance compared with the passive suspension in spite of the variations of inertial parameters.

关键词： active suspension half-car suspension model parameter-dependent control linear matrix inequalities （LMIs）

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Improving rail vehicle dynamic performance with active suspension

High-Speed Railway

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High-Speed Railway 2023年第1期1卷 23-30页

作者： Sebastian Stichel Rickard Persson Rocco Giossi KTH Royal Institute of Technology KTH Railway GroupTeknikringen 8S-10044 StockholmSweden

Today,it is difficult to further improve the dynamic performance of rail vehicles with conventional passive suspension.Also,simplified vehicle respectively running gear layouts that significantly could reduce vehicle weights are difficult to realize with modern requirements on passenger vibration comfort and wheel and rail wear.active suspension is a powerful technology that can improve the vehicle dynamic performance and make simplified vehicle concepts possible.The KTH Railway group has,together with external partners,investigated active suspensions both numerically and experimentally for 15 years.The paper provides a summary of the activities and the most important findings.One major project carried out in close collaboration with the vehicle manufacturer Bombardier and the Swedish Transport Administration was the Green Train project,where a 2-car EMU test bench was used to demonstrate different active technologies.In ongoing projects,a concept of single axle-single suspension running gear is developed with active suspension both for comfort improvement and reduced wheel wear in curves.The results from on-track tests in the Green Train project were so good that the technology is now implemented in commercial trains and the simulation results for the single-axle running gear are very promising.

关键词： Rail Vehicle dynamics active suspension Ride comfort active wheelset steering Wheel wear

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Design and experiment of electro hydraulic active suspension for controlling the rolling motion of spray boom

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International Journal of Agricultural and Biological Engineering 2019年第4期12卷 72-81页

作者： Longfei Cui Xinyu Xue Feixiang Le Hanping Mao Suming Ding Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Key Laboratory of Modern Agricultural Equipment and Technology Ministry of EducationJiangsu UniversityZhenjiang 212013China

Boom sprayer is one of the most commonly used plant protection machinery for spraying pesticide.Studies have shown that the efficiency of chemicals is highly correlated with the uniformity of spray distribution patterns.As the boom is a large and flexible structure,boom rolling leads to overlapping and leakage of the pesticides.In order to improve spray uniformity,the boom attitude should be kept parallel to the ground slope or to the crop canopy beneath the boom.Passive suspension can attenuate frequencies above its resonance frequency,but nothing can be done to align the boom to the sloping ground.Therefore,an active suspension system is designed,which includes DSP-based controller,a servo valve,a hydraulic cylinder,two ultrasonic sensors,one inertial attitude sensor,and the developed control procedures.In order to prevent the wrong response of the control system caused by the high frequency component due to uneven crop canopy or rough ground.A special signal processing algorithm was proposed,including the limiting filter,smoothing algorithm and data fusion algorithm based on optimal weight.The transient and steady-state performances of the boom control system using velocity feedforward PID algorithm were tested on a six DOF motion simulator.It can be seen that the low-frequency tracking performance of the boom was greatly improved after the electro-hydraulic active suspension was added.At the resonance frequency,the peak angle of active suspension and passive suspensions are 0.72°and 1.29°respectively,and the resonance peak is greatly reduced.The controller was implemented on a self-propelled boom sprayer and validated under field conditions,the standard deviation of the roll angle of the boom with active suspension is 0.40°,compared with 1.04°of the sprayer chassis.Experimental results show that the active suspension control system can effectively reduce the effect of ground excitation disturbance on the application process,and has good tracking performance for low frequency terrain change.

关键词： boom sprayer active suspension electro-hydraulic servo system six DOF motion simulator signal process motion control

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Robust H-infinity control for constrained uncertain systems and its application to active suspension

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控制理论与应用（英文版） 2012年第4期10卷 470-476页

作者： Miaomiao MA Hong CHEN Xiangjie LIU School of Control and Computer Engineering North China Electric Power University Department of Control Science and Engineering Jilin University

This paper presents an LMI based robust H-infinity control scheme for constrained systems with norm- bounded uncertainties. The uncertainties are incorporated in the evaluation of the H-infinity norm and the time-domain constraints. The robust closed-loop properties inclusive of stability, H-infinity performance and the satisfaction of the time- domain constraints are discussed. Analysis and simulation results for a 2 DOF quarter-car model show possible improve- ments on ride comfort, while robustly respecting safety related constraints such as good road holding, limited suspension strokes and actuator saturation.

关键词： Constraints H-infinity performance LMI optimization Norm-bounded uncertainties active suspension

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Linear Quadratic Integral Control for the active suspension of Vehicle

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Journal of Beijing Institute of Technology 2005年第3期14卷 229-233页

作者：管继富顾亮侯朝桢武云鹏 School of Information Science and Technology Beijing Institute of Technology Beijing100081 China School of Mechanical and Vehicular Engineering Beijing Institute of Technology Beijing100081 China School

The quarter model of an active suspension is established in the form of controllable autoregressive moving average （CARMA） model. An accelerometer can be mounted on the wheel hub for measuring road disturbance; this signal is used to identify the CARMA model parameters by recursive forgetting factors least square method. The linear quadratic integral （LQI） control method for the active suspension is presented. The LQI control algorithm is fit for vehicle suspension control, for the control performance index can comprise multi controlled variables. The simulation results show that the vertical acceleration and suspension travel both are decreased with the LQI control in the low frequency band, and the suspension travel is increased with the LQI control in the middle or high frequency band. The suspension travel is very small in the middle or high frequency band, the suspension bottoming stop will not happen, so the vehicle ride quality can be improved apparently by the LQI control.

关键词： active suspension recursive forgetting factors least square linear quadratic integral control adaptive control

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Two-acceleration-error-input proportional-integral-derivative control for vehicle active suspension

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Journal of Traffic and Transportation Engineering(English Edition) 2014年第3期1卷 228-234页

作者： Yucai Zhou Shian Chen Juncheng Wang School of Automotive Engineering Qinghai Communications Technical College School of Automotive and Traffic Engineering Jiangsu University

The objective of this work is to present a new two-acceleration-error-input （TAEI） proportional-integral-derivative （PID） control strategy for active suspension. The novel strategy lies in the use of sprung mass acceleration and unsprung mass acceleration signals simultaneously, which are easily measured and obtained in engineering practice. Using a quarter-car model as an example, a TAEI PID controller for active suspension is established and its control parameters are optimized based on the genetic algorithm （GA）, in which the fitness function is a suspension quadratic performance index. Comparative simulation shows that the proposed TAEI PID controller can achieve better compre- hensive performance, stability, and robustness than a conventional single-acceleration-error-input （SAEI） PID controller for the active suspension.

关键词： vehicle active suspension PID two-acceleration-error-input optimization

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active suspension Control Design & Simulation Based on Backstepping

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微计算机信息 2009年第13期 224-226页

作者： (Mechanical Engineering School of University of Science & Technology Beijing,Beijing 100083,China) CHEN Bing ZENG Ming YIN Zhong-jun

Vehicle suspension system is a typical nonlinear system.Backstepping control theory is applicable to control of nonlinear system.In this article,an active suspension system model based on backstepping control strategy was established.It was proved that the active suspension system posed property of global asymptotic stability and could reach the goal of avoiding suspension stroke when vehicle met a road bump.Simulation research of a vehicle single tire suspension traveling over road bump was studied.Simulation results demonstrated that performance of active suspension system with backstepping control strategy presented in the article was superior over active suspension with optimal control and passive suspension and avoided suspension stroke,when vehicle traveled over road bump.

关键词： Vehicle active suspension Nonlinear Backstepping Simulation

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