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Design of Active Suspension Systems in the Presence of Physical Parameter Uncertainties
Technical Paper
945062
Sector:
Language:
English
Abstract
The paper discusses the design of active suspension systems with
uncertain physical parameters like uncertain tire stiffness,
uncertain body mass due to payload changes, changes in the number
of passengers, etc.
The performance of the suspension system is characterized by
ride comfort described by minimizing a quadratic functional of the
body and tire accelerations. Stability and performance robustness
with respect to the uncertain parameters has to be achieved by the
application of a specific control law.
The road profile excitation provides a disturbance to the
system. The control strategy is responsible to attenuate the effect
of this disturbance on the body and/or wheel vibrations.
The design of a suitable control strategy is based on the
following objectives: the control should provide
stability/performance robustness in the presence of uncertainties
of physical parameters; The control should provide quarantined
disturbance attenuation for road profile excitation.
These objectives can be achieved by applying the following
control design strategies: LQ, LQG or H2 control, H infinity
control, or with appropriately chosen H2/H infinity trade off,
minimax optimal control and structured singular value based μ-
synthesis.
The paper gives detailed discussion on the uncertainty modeling
arising from physical parameter uncertainties appearing either in
constant perturbation or in time varying form. Based on a
quarter-car model the properties at LQ, LQR and H2/H infinity
design will be evaluated in time and frequency domains. Design
issues relevant to the application of these control strategies will
be analyzed.