Active suspension robust control based on main/torque-tracking loop structure

Abstract

This paper presents a robust control method for a direct current (DC)-motor-based active suspension based on main/torque-tracking loop structure. The control structure is divided into two loops. The main loop deals with parametric uncertainties for a full-car suspension model and calculates the demand torque of DC-motors for active control. Several uncertain parameters are taken into consideration and a mixed-μ robust controller is proposed for the main loop. The torque-tracking loop employs the control of a three-phase motor by using hysteresis current control to track the demand torque calculated by the main loop. Simulations are carried out with random road input and bump input. The results demonstrate that the DC-motor-based active suspension with the designed controller can greatly improve vehicle ride comfort in comparison with the corresponding passive one.