Theoretical Limitations in Active Vehicle Suspensions

SUMMARY

Vehicle suspensions in which forces are generated in response to feedback signals by active elements obviously offer increased design flexibility compared to conventional suspensions using passive elements such as springs and dampers. It is often assumed that if practical difficulties are neglected, active systems could in principle produce arbitrary ideal, behavior. It is shown, using a simple linear two degree-of-freedom suspension system, model that even using complete state feed back and in the case of in which the system is controllable in the control theory sense, there still are limitations to suspension performance in the fully active case. If the ideal suspension performance is defined based on low-pass filtering of roadway unevenness inputs, an active suspension may not offer much better performance than a partially active or adaptive passive suspension depending upon the values of certain vehicle parameters.     

Theoretical Limitations in Active Vehicle Suspensions

Vehicle suspensions in which forces are generated in response to feedback signals by active elements obviously offer increased design flexibility compared to conventional suspensions using passive elements such as springs and dampers. It is often assumed that if practical difficulties are neglected, active systems could in principle produce arbitrary ideal, behavior. It is shown, using a simple linear two degree-of-freedom suspension system, model that even using complete state feed back and in the case of in which the system is controllable in the control theory sense, there still are limitations to suspension performance in the fully active case. If the ideal suspension performance is defined based on low-pass filtering of roadway unevenness inputs, an active suspension may not offer much better performance than a partially active or adaptive passive suspension depending upon the values of certain vehicle parameters.     

Active Railway Suspensions: Implementation Status and Technological Trends

The paper provides a comprehensive survey of active railway suspensions, covering both basic concepts and significant practical implications around the world. A critical review of technological opportunities, both current and future, is included, and the final section takes a speculative look at long term trends.     

Fuzzy Logic Active and Semi-Active Control of Off-Road Vehicle Suspensions

For off-road vehicles, minimizing the absorbed power is the main objective of suspension control. The primary cause of increase in the absorbed power in off-road vehicles driven at high speeds on harsh courses is the exhaustion of the suspension travel. Fuzzy-logic approach to active and semi-active off-road vehicle suspension control, with the goal of improving the speed of the vehicle over rough terrains are developed. The ride metric used for quantifying improvements is the absorbed power of the sprung mass. Particular attention is paid to the proper modeling of the suspension using both the full kinematic constraints and the more convenient two degree of freedom linear model of the quarter vehicle suspension. The nonlinearities due to the kinematic constraints on motion are accounted for by modifying the stiffness and damping coefficients of the suspension spring and dashpot in the linear model. The control laws are developed using the less complex model and demonstrated in the fully constrained environment. Nonlinearities of the suspension, including tire stiffness/damping and bumpstops are included at all stages of controller development.     

Fuzzy Logic Active and Semi-Active Control of Off-Road Vehicle Suspensions

For off-road vehicles, minimizing the absorbed power is the main objective of suspension control. The primary cause of increase in the absorbed power in off-road vehicles driven at high speeds on harsh courses is the exhaustion of the suspension travel. Fuzzy-logic approach to active and semi-active off-road vehicle suspension control, with the goal of improving the speed of the vehicle over rough terrains are developed. The ride metric used for quantifying improvements is the absorbed power of the sprung mass. Particular attention is paid to the proper modeling of the suspension using both the full kinematic constraints and the more convenient two degree of freedom linear model of the quarter vehicle suspension. The nonlinearities due to the kinematic constraints on motion are accounted for by modifying the stiffness and damping coefficients of the suspension spring and dashpot in the linear model. The control laws are developed using the less complex model and demonstrated in the fully constrained environment. Nonlinearities of the suspension, including tire stiffness/damping and bumpstops are included at all stages of controller development.     

车辆主动悬架的神经网络模糊控制

利用神经网络来实现在车辆主动悬架中的模糊控制，通过对主动悬架实体装置的台架实验研究，在不同激励信号的作用下，神经网络模糊控制器都具有很好地抑制车体振动的特点，其控制效果明显优于PID控制。在车辆主动悬架中，神经网络模糊控制具有设计新颖，实用性强，特别对于减振效果要求较高的车辆，更能发挥其优点。     

Design of Nonlinear Controllers for Active Vehicle Suspensions Using Parameter-Varying Control Synthesis

Nonlinear suspension controllers have the potential to achieve superior performance compared to their linear counterparts. A nonlinear controller can focus on maximizing passenger comfort when the suspension deflection is small compared to its structural limit. As the deflection limit is approached, the controller can shift focus to prevent the suspension deflection from exceeding this limit. This results in superior ride quality over the range of road surfaces, as well as reduced wear of suspension components. This paper presents a novel approach to the design of such nonlinear controllers, based on linear parameter-varying control techniques. Parameter-dependent weighting functions are used to design active suspensions that stiffen as the suspension limits are reached. The controllers use only suspension deflection as a feedback signal. The proposed framework easily extends to the more general case where all the three main performance metrics, i.e., passenger comfort, suspension travel and road holding are considered, and to the design of road adaptive suspensions.     

Design of Nonlinear Controllers for Active Vehicle Suspensions Using Parameter-Varying Control Synthesis

Nonlinear suspension controllers have the potential to achieve superior performance compared to their linear counterparts. A nonlinear controller can focus on maximizing passenger comfort when the suspension deflection is small compared to its structural limit. As the deflection limit is approached, the controller can shift focus to prevent the suspension deflection from exceeding this limit. This results in superior ride quality over the range of road surfaces, as well as reduced wear of suspension components. This paper presents a novel approach to the design of such nonlinear controllers, based on linear parameter-varying control techniques. Parameter-dependent weighting functions are used to design active suspensions that stiffen as the suspension limits are reached. The controllers use only suspension deflection as a feedback signal. The proposed framework easily extends to the more general case where all the three main performance metrics, i.e., passenger comfort, suspension travel and road holding are considered, and to the design of road adaptive suspensions.     

Electronically Controllable Vehicle Suspensions

The basic functions which suspensions must perform are described and categories of controllable suspensions based on the required amount of control power are defined. The kinds of devices which can be used in controllable suspensions are discussed as well as several basic control philosophies. Finally, fundamental theoretical and practical limitations in suspension performance are indicated.     

Electronically Controllable Vehicle Suspensions

SUMMARY

The basic functions which suspensions must perform are described and categories of controllable suspensions based on the required amount of control power are defined. The kinds of devices which can be used in controllable suspensions are discussed as well as several basic control philosophies. Finally, fundamental theoretical and practical limitations in suspension performance are indicated.     

Anti-Roll and Active Roll Suspensions

Full car roll model is used to show an anti-roll control like that in Citroen's Xantia Activa and the proposed active roll with an in-series active suspension. Computed responses to pulse-shaped anti-phase road unevenness as well as to lateral acceleration in comparison with passive suspension are given in the paper. Also stability values for all parameters can be found.     

Anti-Roll and Active Roll Suspensions

Full car roll model is used to show an anti-roll control like that in Citroen's Xantia Activa and the proposed active roll with an in-series active suspension. Computed responses to pulse-shaped anti-phase road unevenness as well as to lateral acceleration in comparison with passive suspension are given in the paper. Also stability values for all parameters can be found.     

主动汽车悬架的非线性控制

本文采用１／４车模型对天棚阻尼器和主动悬架的动力学性能进行分析，针对执行器的非线性特性，探讨了微分几何法和反馈法线必互法在主动悬架控制中的应用，在系统控制设计中采用了离散滑模法，仿真结果显示非线性控制律能有效地改善主动悬架的隔振特性。     

车辆悬架的最优自适应与自校正控制

本文研究了车辆主动悬架自适应与自校正控制的策略与算法。     

Active Suspensions Based on Fast Load Levelers

SUMMARY

A class of active suspensions is presented which provides near optimum isolation of base motion as well as zero static deflection for force disturbances using a simple type of feedback. The load leveling effect is rapid with the system stabilized using isolated mass velocity feedback both for a semi-active damper and for the load leveler. The system can be made energy conservative and fail safe since the system reverts to a reasonable passive isolator if the load leveling effect and even if the active damping effect is switched off. The system could be incorporated in automotive vehicles with some extension of the feedback control to account for several aspects of body motion.     

Optimal Linear Active Suspensions with Integral Constraint

This paper considers the application of linear optimal control to the design of an active automobile suspension system. By inclusion of an integral constraint in the performance index it is possible to achieve zero steady state axle to body response to both static body forces and ramp road inputs. Full state feedback is achieved by reconstructing the state variables from easily measured quantities.     

Active Suspensions Based on Fast Load Levelers

A class of active suspensions is presented which provides near optimum isolation of base motion as well as zero static deflection for force disturbances using a simple type of feedback. The load leveling effect is rapid with the system stabilized using isolated mass velocity feedback both for a semi-active damper and for the load leveler. The system can be made energy conservative and fail safe since the system reverts to a reasonable passive isolator if the load leveling effect and even if the active damping effect is switched off. The system could be incorporated in automotive vehicles with some extension of the feedback control to account for several aspects of body motion.