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Design of Static Output Feedback and Structured Controllers for Active Suspension with Quarter-Car Model

Author

Listed:
  • Manbok Park

    (Department of Electronic Engineering, Korea National University of Transportation, Chungju-si 27469, Korea)

  • Seongjin Yim

    (Research Center for Electrical and Information Technology, Seoul National University of Science and Technology, Seoul 01811, Korea)

Abstract

This paper presents a method to design active suspension controllers for a 7-Degree-of-Freedom (DOF) full-car (FC) model from controllers designed with a 2-DOF quarter-car (QC) one. A linear quadratic regulator (LQR) with 7-DOF FC model has been widely used for active suspension control. However, it is too hard to implement the LQR in real vehicles because it requires so many state variables to be precisely measured and has so many elements to be implemented in the gain matrix of the LQR. To cope with the problem, a 2-DOF QC model describing vertical motions of sprung and unsprung masses is adopted for controller design. LQR designed with the QC model has a simpler structure and much smaller number of gain elements than that designed with the FC one. In this paper, several controllers for the FC model are derived from LQR designed with the QC model. These controllers can give equivalent or better performance than that designed with the FC model in terms of ride comfort. In order to use available sensor signals instead of using full-state feedback for active suspension control, LQ static output feedback (SOF) and linear quadratic Gaussian (LQG) controllers are designed with the QC model. From these controllers, observer-based controllers for the FC model are also derived. To verify the performance of the controllers for the FC model derived from LQR and LQ SOF ones designed with the QC model, frequency domain analysis is undertaken. From the analysis, it is confirmed that the controllers for the FC model derived from LQ and LQ SOF ones designed with the QC model can give equivalent performance to those designed with the FC one in terms of ride comfort.

Suggested Citation

  • Manbok Park & Seongjin Yim, 2021. "Design of Static Output Feedback and Structured Controllers for Active Suspension with Quarter-Car Model," Energies, MDPI, vol. 14(24), pages 1-20, December.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:24:p:8231-:d:697093
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    References listed on IDEAS

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    1. Mingchun Liu & Feihong Gu & Yuanzhi Zhang, 2017. "Ride Comfort Optimization of In-Wheel-Motor Electric Vehicles with In-Wheel Vibration Absorbers," Energies, MDPI, vol. 10(10), pages 1-21, October.
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