Simultaneous dynamic system estimation and optimal control of vehicle active suspension

ABSTRACT This paper proposes a combined observer/controller method that estimates the states and simultaneously improves the ride comfort and stability of a full vehicle active suspension system using a single inertial measurement unit (IMU) in the presence of noise and centre of gravity uncertainties. The derived model is based on a channel-by-channel estimation technique using filtered white noise excitation signals on all the wheels, as well as active suspension actuators. The transfer functions of the vehicle system are estimated by analysing the IMU signals in the frequency domain. The derived result is then used in a linear quadratic regulator to calculate the actuators' forces to improve the vehicle's ride comfort and road holding stability within the limits of the rattle space. The simulation results show the efficacy of the proposed approach. Specifically, the observer estimates the actual behaviour of the vehicle with accuracy with up to uncertainty. Finally, a parametric study has been investigated to ascertain the applicability of the proposed approach in estimating the vehicle dynamics with simultaneously improving the ride comfort and road holding stability.

[1]  S. Thenmozhi,et al.  Kalman estimator for an Active Suspension System , 2012, IEEE-International Conference On Advances In Engineering, Science And Management (ICAESM -2012).

[2]  A. M. Sharaf,et al.  Investigation of Control Algorithms for Semi-Active Suspension Systems Based on a Full Vehicle Model , 2011 .

[3]  Boris Lohmann,et al.  Joint state-parameter estimation for active vehicle suspensions: A Takagi-Sugeno Kalman filtering approach , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[4]  Klaus Diepold,et al.  Nonlinear state estimation for suspension control applications: a Takagi-Sugeno Kalman filtering approach , 2017 .

[5]  Rik Pintelon,et al.  System Identification: A Frequency Domain Approach , 2012 .

[6]  Victor M. Becerra,et al.  Optimal control , 2008, Scholarpedia.

[7]  Jianbo Lu,et al.  Multiobjective optimal suspension control to achieve integrated ride and handling performance , 2002, IEEE Trans. Control. Syst. Technol..

[8]  Boris Lohmann,et al.  Controlling an active suspension using methods of optimal control , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[9]  Donato Ciampa,et al.  Correction to: The vibrations induced by surface irregularities in road pavements – a Matlab® approach , 2019, European Transport Research Review.

[10]  Anil Shirahatt,et al.  Optimal Design of Passenger Car Suspension for Ride and Road , 2008 .

[11]  P. D. Shendge,et al.  Dual objective active suspension system based on a novel nonlinear disturbance compensator , 2016 .

[12]  Serkan Gugercin,et al.  A survey of balancing methods for model reduction , 2003, 2003 European Control Conference (ECC).

[13]  Keith J. Burnham,et al.  Dual extended Kalman filter for vehicle state and parameter estimation , 2006 .

[14]  Feng-Yi Lin.  Robust Control Design: An Optimal Control Approach , 2007 .

[15]  Nils Pletschen,et al.  Nonlinear State Estimation in Suspension Control Based on Takagi-Sugeno Model , 2014 .

[16]  Corina Sandu,et al.  Vehicle Dynamics: Theory and Applications , 2010 .

[17]  Reza N. Jazar,et al.  Vehicle Dynamics: Theory and Application , 2009 .

[18]  Sara D. Garcia,et al.  Estimation based on acceleration measures of an active suspension plant , 2015, 2015 IEEE 2nd Colombian Conference on Automatic Control (CCAC).

[19]  Etsuo Katsuyama,et al.  Improvement of Ride Comfort by Unsprung Negative Skyhook Damper Control Using In-Wheel Motors , 2016 .

[20]  H. Eric Tseng,et al.  Optimisation of active suspension control inputs for improved vehicle ride performance , 2016 .

[21]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[22]  A. J. Healey,et al.  An Analytical and Experimental Study of Automobile Dynamics With Random Roadway Inputs , 1977 .

[23]  Wuwei Chen,et al.  Integrated Vehicle Dynamics and Control , 2016 .

[24]  A. Prochazka,et al.  Signal Analysis and Prediction , 1998 .

[25]  Guido Herrmann,et al.  Adaptive optimal observer design via approximate dynamic programming , 2017, 2017 American Control Conference (ACC).

[26]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[27]  Honghai Liu,et al.  Handbook of Vehicle Suspension Control Systems , 2013 .

[28]  Boris Lohmann,et al.  Nonlinear and filter based estimation for vehicle suspension control , 2010, 49th IEEE Conference on Decision and Control (CDC).

[29]  H. Eric Tseng,et al.  State of the art survey: active and semi-active suspension control , 2015 .

[30]  Huijun Gao,et al.  Adaptive Robust Vibration Control of Full-Car Active Suspensions With Electrohydraulic Actuators , 2013, IEEE Transactions on Control Systems Technology.

[31]  Mohamed Bouazara,et al.  An optimization method designed to improve 3-D vehicle comfort and road holding capability through the use of active and semi-active suspensions , 2001 .

[32]  Wuwei Chen,et al.  Integrated Vehicle Dynamics and Control: Chen/Integrated Vehicle Dynamics and Control , 2016 .

[33]  Steven G. Johnson,et al.  FFTW: an adaptive software architecture for the FFT , 1998, Proceedings of the 1998 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '98 (Cat. No.98CH36181).

[34]  Frank L. Lewis,et al.  Optimal Control: Lewis/Optimal Control 3e , 2012 .

[35]  Jing Na,et al.  Adaptive control of nonlinear uncertain active suspension systems with prescribed performance. , 2015, ISA transactions.

[36]  C. Graf,et al.  Online force estimation for an active suspension control , 2012, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[37]  Harald Waschl,et al.  Fast Determination of Vehicle Suspension Parameters via Continuous Time System Identification , 2016 .

[38]  Gan Chen,et al.  Robust control of active suspension to improve ride comfort with structural constraints , 2016, 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC).

[39]  Gianpiero Mastinu,et al.  Road and Off-Road Vehicle System Dynamics Handbook , 2013 .

[40]  Kevin Kochersberger,et al.  System Identification and Optimal Control of Half-Car Active Suspension System Using a Single Noisy IMU With Position Uncertainty , 2017 .