An optimal preview control algorithm is applied to a two degree of freedom (dof) vehicle model travelling with constant velocity on a randomly profiled road. The road roughness is modelled as a homogeneous random process being the output of a linear first order filter to white noise. The input from the road irregularity is assumed to be measured at some distance in front of the vehicle and this measured information is utilized by the active controller to prepare the system for the ensuing input. The preview control algorithm is obtained by minimizing a quadratic performance index and by describing the average behavior of the system by the covariance matrix of the vehicle response state vector. Results are presented for full state feedback and significant improvements in sprung mass acceleration, suspension working space and road holding are observed.
Optimal preview control of a two-dof vehicle model using stochastic optimal control theory
Eine optimale Vorausschau-Regelung eines Fahrzeugmodells mit zwei Freiheitsgraden unter Verwendung der stochastischen Optimierungstheorie
Vehicle System Dynamics ; 25 , 6 ; 413-430
1996
18 Seiten, 7 Bilder, 17 Quellen
Article (Journal)
English
Optimal Preview Control of a Two-dof Vehicle Model Using Stochastic Optimal Control Theory
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