Optimization and finite-frequency H∞ control of active suspensions in in-wheel motor driven electric ground vehicles

Abstract In this paper, the parameter optimization and H ∞ control problem of active suspensions equipped in in-wheel motor driven electric ground vehicles are investigated. In order to better isolate the force transmitted to motor bearing, dynamic vibration absorber (DVA) is installed in the active suspension. Parameters of the vibration isolation modules are also optimized in order to achieve better suspension performances. As the human body is much sensitive to vibrations between 4 and 8 Hz, a finite-frequency state-feedback H ∞ controller is designed to achieve the targeted disturbance attenuation in the concerned frequency range while other performances such as road holding capability and small suspension deflection are also maintained. The performance of the proposed finite-frequency H ∞ controller is compared with that of an entire frequency one, simulation results prove the effectiveness of the proposed control method.

[1]  Hamid Reza Karimi,et al.  Output-Feedback-Based $H_{\infty}$ Control for Vehicle Suspension Systems With Control Delay , 2014, IEEE Transactions on Industrial Electronics.

[2]  Junmin Wang,et al.  Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel Motors , 2012 .

[3]  Satoshi Murata,et al.  Innovation by in-wheel-motor drive unit , 2012 .

[4]  Pierre Apkarian,et al.  Continuous-time analysis, eigenstructure assignment, and H2 synthesis with enhanced linear matrix inequalities (LMI) characterizations , 2001, IEEE Trans. Autom. Control..

[5]  Xinwei Liu.  Global convergence on an active set SQP for inequality constrained optimization , 2005 .

[6]  James Lam,et al.  Multi-objective control of vehicle active suspension systems via load-dependent controllers , 2006 .

[7]  C. C. Chan,et al.  The State of the Art of Electric, Hybrid, and Fuel Cell Vehicles , 2007, Proceedings of the IEEE.

[8]  Hui Zhang,et al.  Optimal H∞-Based Linear-Quadratic Regulator Tracking Control for Discrete-Time Takagi–Sugeno Fuzzy Systems With Preview Actions , 2013 .

[9]  H. R. Karimi,et al.  Semiactive Control Methodologies for Suspension Control With Magnetorheological Dampers , 2012, IEEE/ASME Transactions on Mechatronics.

[10]  Aryan Saadat Mehr,et al.  On ${\cal H}_{\infty }$ Filtering for Discrete-Time Takagi–Sugeno Fuzzy Systems , 2012, IEEE Transactions on Fuzzy Systems.

[11]  Weichao Sun,et al.  Vibration control for active seat suspension systems via dynamic output feedback with limited frequency characteristic , 2011 .

[12]  Junmin Wang,et al.  Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors , 2011 .

[13]  C. C. Chan,et al.  The state of the art of electric and hybrid vehicles , 2002, Proc. IEEE.

[14]  Huijun Gao,et al.  Finite Frequency $H_{\infty }$ Control for Vehicle Active Suspension Systems , 2011, IEEE Transactions on Control Systems Technology.

[15]  Sergio M. Savaresi,et al.  A Single-Sensor Control Strategy for Semi-Active Suspensions , 2009, IEEE Transactions on Control Systems Technology.

[16]  Huijun Gao,et al.  Finite Frequency H∞ Control for Vehicle Active Suspension Systems , 2011 .

[17]  Hamid Reza Karimi,et al.  Feasibility issues in static output-feedback controller design with application to structural vibration control , 2014, J. Frankl. Inst..

[18]  Huijun Gao,et al.  Active Suspension Control With Frequency Band Constraints and Actuator Input Delay , 2012, IEEE Transactions on Industrial Electronics.

[19]  Shinji Hara,et al.  Generalized KYP lemma: unified frequency domain inequalities with design applications , 2005, IEEE Transactions on Automatic Control.

[20]  D K Smith,et al.  Numerical Optimization , 2001, J. Oper. Res. Soc..

[21]  Konghui Guo,et al.  Constrained H/sub /spl infin// control of active suspensions: an LMI approach , 2005, IEEE Transactions on Control Systems Technology.

[22]  Masao Nagai,et al.  Independent wheel torque control of small-scale electric vehicle for handling and stability improvement , 2003 .

[23]  Yang Shi,et al.  Improved robust energy-to-peak filtering for uncertain linear systems , 2010, Signal Process..

[24]  Nong Zhang,et al.  H∞ control of active vehicle suspensions with actuator time delay , 2007 .

[25]  Shin-ichiro Sakai,et al.  Motion control in an electric vehicle with four independently driven in-wheel motors , 1999 .