tailieunhanh - Control of active suspension system using H and adaptive robust controls

This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom using H and nonlinear adaptive robust control method. Suspension dynamics is linear and treated by H method which guarantees the robustness of closed loop system under the presence of uncertainties and minimizes the effect of road disturbance to system. | TAÏP CHÍ PHAÙT TRIEÅN KH&CN, TAÄP 18, SOÁ K1- 2015 Control of active suspension system using and adaptive robust controls Trong Hieu Bui Quoc Toan Truong H University of Technology, VNU- HCM ABSTRACT: This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom using H and nonlinear adaptive robust control method. Suspension dynamics is linear and treated by H method which guarantees the robustness of closed loop system under the presence of uncertainties and minimizes the effect of road disturbance to system. An Adaptive Robust Control (ARC) technique is used to design a force controller such that it is robust against actuator uncertainties. Simulation results are given for both frequency and time domains to verify the effectiveness of the designed controllers. Keywords: Active suspension, Hydraulic actuator, H control, Adaptive robust control. 1. INTRODUCTION Automotive suspension systems have been developed from the begin time of car industrial with a simple passive mechanism to the present with a very high level of sophistication. Suspensions incorporating active components are studied to improve the overall ride performances of automotive vehicle in recent years. Active suspension must provide a trade-off between several competing objectives: passenger comfort, small suspension stroke for packing and small tire deflection for vehicle handling. In the early studies, linear model of suspension are used with the assumption of ideal force actuator. The most applicable force actuator using in practice is hydraulic actuator that has a high non-linearity characteristic. Hence to solve completely problem, recently studies consider to the dynamics and the non-linearity of hydraulic actuator [2,7,9]. This paper presents a control of active suspension system for quarter-car model with two-degree-of-freedom by using H and nonlinear adaptive robust control method. The system is divided into two parts: the