In order to moderate the conflicting suspension objectives ride comfort and ride safety, a switching controller structure for an active suspension system which schedules output feedback approximations of linear optimal regulators depending on the dynamic wheel load is developed. The goal is to maximize ride comfort while keeping the dynamic wheel load below certain safety critical bounds. Stability of the switching control system is analyzed using a common Lyapunov function approach. The control concept is validated with a quarter-vehicle testrig based on a quadricycle suspension. A Kalman filter that takes into account the nonlinear characteristic of the passive damper is used to estimate the dynamic wheel load from two measured acceleration signals and the suspension deflection measurement signal. The performance of the adaptive suspension control system is compared with a linear time-invariant controller and the passive quadricycle suspension system using measurements of real road profiles as excitation signals,


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    Title :

    Wheel load adaptive control of an active quadricycle suspension system


    Additional title:

    Adaptivregelung der Radlast in einem aktiven Vier-Rad-Aufhängungssystem


    Contributors:
    Koch, Guido (author)


    Publication date :

    2008


    Size :

    13 Seiten, 11 Bilder, 2 Tabellen, 18 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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