Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning
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Published:2000-05-01
Issue:1
Volume:124
Page:158-167
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Hong Keum-Shik1, Sohn Hyun-Chul2, Hedrick J. Karl3
Affiliation:
1. School of Mechanical Engineering 2. Department of Mechanical and Intelligent Systems Engineering, Pusan National University, 30 Changjeon-dong, Kumjeong-ku, Pusan 609-735, Korea 3. Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94720-1740
Abstract
In this paper, a road adaptive modified skyhook control for the semi-active Macpherson strut suspension system of hydraulic type is investigated. A new control-oriented model, which incorporates the rotational motion of the unsprung mass, is introduced. The control law extends the conventional skyhook-groundhook control scheme and schedules its gains for various road conditions. Using the vertical acceleration data measured, the road conditions are estimated by using the linearized new model developed. Two filters for estimating the absolute velocity of the sprung mass and the relative velocity in the rattle space are also designed. The hydraulic semi-active actuator dynamics are incorporated in the hardware-in-the-loop tuning stage of the control algorithm developed. The optimal gains for the ISO road classes are discussed. Experimental results are included.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference22 articles.
1. Karnopp, D. C., Crosby, M. J., and Harwood, R. A., 1974, “Vibration Control Using Semi-Active Force Generators,” ASME J. Eng. Ind., 96, No. 2, pp. 619–626. 2. Besinger, F. H., Cebon, D., and Cole, D. J., 1995, “Force Control of a Semi-Active Damper,” Veh. Syst. Dyn., 24, pp. 695–723. 3. Novak, M., and Valasek, M., 1996, “A New Concept of Semi-Active Control of Trucks Suspension,” Proc. of AVEC 96, International Symposium on Advanced Vehicle Control, Aachen University of Technology, pp. 141–151. 4. Jonsson, M.
, 1991, “Simulation of Dynamical Behavior of a Front Wheel Suspension,” Veh. Syst. Dyn., 20, pp. 269–281. 5. Stensson, A., Asplund, C., and Karlsson, L., 1994, “The Nonlinear Behavior of a Macpherson Strut Wheel Suspension,” Veh. Syst. Dyn., 23, pp. 85–106.
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