LPV gain-scheduling controller design for a non-linear quarter-vehicle active suspension system

Abstract

There always exists a conflict between ride comfort and suspension deflection performances during the vibration control of suspension systems. Active suspension control systems, which are designed by linear methods, can only serve as a trade-off between these conflicting performance criteria. Both performance objectives can only be accomplished at the same time by using a nonlinear controller. This paper addresses the non-linear induced L₂ control of an active suspension system, which contains non-linear spring and damper elements. The design method is based on the linear parameter varying (LPV) model of the system. The proposed method utilizes the bilinear damping characteristic, stiffening spring characteristic when the suspension deflection approaches the structural limits, mass variations and parameter-dependent weighting filters. Simulation studies both in time and frequency domain demonstrate that the active suspension system controlled by the proposed method always guarantees an agreement between acceleration (comfort) and suspension deflection magnitudes together with a high ride performance.

Keywords

active suspension system LPV control LPV modelling non-linear modelling.

Get full access to this article

View all access options for this article.

References

Apkarian, P. , Gahinet, P. and Becker, G. 1995: Self scheduled H∞ control of linear parameter varying systems: a design method. Automatica 31, 1251-61.

Boyd, S. , Ghaoui, L.E. , Feron, E. and Balakrishnan, V. 1994: Linear matrix inequalities in system and control theory. SIAM.

Chen, H. 2005: Constraint H∞ control of active suspensions: an LMI approach. IEEE Transactions on Control Systems Technology 13, 412-21.

Choi, S.B. , Lee, H.S. and Park, Y.P. 2002: H∞ control performance of a full-vehicle suspension featuring magnetorheological dampers. Vehicle System Dynamics 38, 341-60.

Fialho, I.J. and Balas, G.J. 2000: Design of nonlinear controllers for active vehicle suspensions using parameter-varying control synthesis. Vehicle System Dynamics 33, 351-70.

Fialho, I.J. and Balas, G.J. 2002: Road adaptive active suspension design using linear parameter varying gain-scheduling. IEEE Transactions on Control Systems Technology 10, 43-54.

Hrovat, D. 1990: Optimal active suspension structures for quarter-car vehicle models. Automatica 26, 845-60.

Kuo, Y.P. and Li, T.H.S. 1999: GA-based fuzzy PI/PID controller for automotive active suspension system. IEEE Transactions on Industrial Electronics 46, 1051-56.

Sammier, D. , Sename, O. and Dugard, L. 2003: Skyhook and H∞ control of semi-active suspensions: Some practical aspects. Vehicle System Dynamics 39, 279-308.

10.

Wang, F. and Balakrishnan, V. 2002: Improved stability analysis and gain scheduled controller synthesis for parameter-dependent systems. IEEE Transactions on Automatic Control 47, 720-34.

11.

Zin, A. , Sename, O. , Gaspar, P. , Dugard, L. and Bokor, J. (2006). An LPV/H∞ active suspension control for global chassis technology: design and performance analysis. Proceedings of 2006 American Control Conference, Minnesota.