Road disturbance estimation for the optimal preview control of an active suspension systems based on tracked vehicle model |
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| Authors: | I. Youn M. A. Khan N. Uddin E. Youn M. Tomizuka |
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| Affiliation: | 1.School of Mechanical and Aerospace Engineering, ReCAPT,Gyeongsang National University,Gyeongnam,Korea;2.Department of Engineering Cybernetics,Norwegian University of Science and Technology,Trondheim,Norway;3.Department of Mechanical Engineering,University of California,Berkeley,USA |
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| Abstract: | This research investigates stochastic estimation of a look-ahead sensor scheme using the optimal preview control for an active suspension system of a full tracked vehicle (FTV). In this scheme, wheel disturbance input to the front wheels are estimated using the dynamic equations of the system. The estimated road disturbance input at the front wheels are utilized as preview information for the control of subsequently following wheels of FTV. The design of optimal preview control is used as a classical linear quadratic Gaussian problem by combining dynamics of the original system and estimation of previewed road inputs. The effectiveness of the preview controller is evaluated by comparing the estimated information with the measured information for different road profiles, where Kalman filter is used for the state-variables estimation of the FTV. This research also considers the reduced order estimation using commonly available sensors in order to decrease the number of sensors and measurements. The simulation results’ using an active suspension system with different preview information shows that the proposed system can be beneficial for the improvement of ride comfort of tracked vehicles without using any specialized sensors for preview information calculation. |
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