Comparative analysis of full car model with driver using PID and LQR controllers

Abstract

In this study, an active suspension model is proposed to increase the driving safety and passenger comfort of the car, which is adversely affected by car-road interaction. In this context, the full car model with a driver is considered as eight degrees of freedom. All the motion equations of the car were determined by the Lagrangian method and converted into state-space forms. Then, these equations are solved precisely by using Euler's method in Matlab software. PID and LQR controllers are designed to reduce the vertical displacement of the passenger and the rotational movements of the car. In order to evaluate the performance of the designed controllers, two different road inputs and two different car speeds are taken into account. In the simulation results, the vertical displacement and acceleration values of the driver and the rotational movements of the car were examined. While the PID controller stands out in damping the displacement values at low speeds, the LQR controller is much more successful in other cases.