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Preview Model Predictive Control Controller for Magnetorheological Damper of Semi-Active Suspension to Improve Both Ride and Handling
ISSN: 2380-2162, e-ISSN: 2380-2170
Published September 23, 2020 by SAE International in United States
Citation: Shehata Gad, A., "Preview Model Predictive Control Controller for Magnetorheological Damper of Semi-Active Suspension to Improve Both Ride and Handling," SAE Int. J. Veh. Dyn., Stab., and NVH 4(3):305-326, 2020, https://doi.org/10.4271/10-04-03-0021.
This article presents a semi-active vibration control suspension system using a preview Model Predictive Control (MPC) linked with a magnetorheological (MR) damper to improve vehicle stability during handling dynamics, consequently confidently achieving both maneuverability and lateral dynamic motion. The mathematical model (4DOF) described by bounce and pitch motions for sprung mass and two bounce motions for the un-sprung masses, which consists of a preview half-vehicle suspension system and MR dampers at the front and rear axles, is derived. A nonpreview case of the linear quadratic regulator (LQR), a preview case of the LQR, and a preview case of the MPC as alternative methods are applied to design the system controller in combination with a signum function method as a damper controller for both the front and rear MR dampers. The vehicle handling model based on the look-ahead distance of the road, which includes yaw and lateral motions, is linked with the driver model. Magic Formula is used to describe the performance of nonlinearity tire models at the front and rear axles. Suspension systems, which are described either by the passive model or by MR semi-active suspension model, are integrated with the handling model to examine the influence of vertical vibration control on the vehicle lateral stability. The MR semi-active vehicle suspension based on the mentioned control strategies is compared with a passive suspension system under road bump and random road excitations to analyze the vehicle dynamics criteria during both time domain and frequency domain. Simulation results confirm that the case of a semi-active MR suspension system incorporating the preview case MPC controller can offer significant prosperity for both ride comfort and vehicle stability compared with other proposed cases of vibration control.