The results from the simulations with time invariant controllers show that the vibration damping potential for active suspensions is better than the potential for passive suspensions. The use of observers to estimate non measurable states decreases the damping potential, but the study shows that the decrease is rather limited with an effectively designed observer. With constant feedback gains, the suspension with time invariant feedback must be tuned to avoid over-travel at the highest possible vibration levels, which decreases the damping potential during more normal driving at lower levels. The adaptively controlled active suspension controls the feedback gains dependent on the vehicle's frame movements and the suspension travel. This suspension shows good performance in the simulations should, if no problems are found in the necessary full scale experiments, be favourable for a practical implementation. The results also indicate that the principle for the adaption can be used in other vehicle active vehicle suspension systems. The adaptive controller performs a lot of identification and control computations in each time step and places high demands on the computer, which must be fast and reliable. However, the process in the micro processor area, both referring to capacity and price, is very rapid and thus the most important restriction for commercial production is probably the need of a fast and quiet force actuator with low production cost.
Control algorithms for active cab suspensions on agricultural tractors
Regelungsalgorithmen für aktive Kabinenaufhängungen bei Landwirtschaftstraktoren
Vehicle System Dynamics ; 25 , 6 ; 431-461
1996
31 Seiten, 18 Bilder, 23 Quellen
Article (Journal)
English
Control Algorithms for Active Cab Suspensions on Agricultural Tractors
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