The control design, the development process and the overall performance of a semi-active suspension control for a heavy truck are described. The control software is developed, debugged and preliminarily tuned within a dedicated Matlab/Simulink environment, in time and frequency domain, utilising a simplified vehicle model. The Simulink control diagram has then been converted into a real-time application for a dSpace ECU (Electronic Control Unit) by means of the rapid-prototyping technique application. After a preliminary virtual evaluation, the system performance is then tested on a real prototype truck, owing to the rapid prototyping technique application. A fine tuning of the system is realised through of an experimental test activity focused both on the comfort and the handling behaviour of the vehicle. Moreover, this activity indicates that the enhancement of ride-comfort vehicle attitude is not constant for the different tested scenarios; in particular, the best performance is reached in the single tractor configuration. This is due to the fact that in the full vehicle condition the trailer is dominant in influencing the overall dynamics, while the prototype has the controlled dampers installed only on the tractor. It is quite clear that system performance could be improved by installing adjustable dampers also on the trailer suspension, with a better response time (lower than 40 to 60 ms). Another development could be the integration of two control systems: the first one installed on the cabin suspension, with high-bandwidth actuators, dedicated to the ride-comfort aspect; the second one placed on the frame suspension, mainly focused on the vehicle handling behaviour, where the frequencies to be controlled do not exceed 1 to 2 Hz and low-bandwidth adjustable dampers could work properly.
Development of a heavy truck semi-active suspension control
Entwicklung einer quasi-aktiven Radaufhängungsregelung für schwere Lastkraftwagen
Control Engineering Practice ; 14 , 3 ; 305-312
2006
8 Seiten, 15 Bilder, 1 Tabelle, 6 Quellen
Article (Journal)
English
Heavy-truck semi active suspension
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