Active Suspension Control to Improve Vehicle Ride and Handling |
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Authors: | Daniel E Williams Wassim M Haddad |
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Institution: |
a TRW Commercial Steering Division, Lafayette, IN, USA
b School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA |
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Abstract: | In practice most active vehicle suspension work can be traced to two sources, Lotus' modal control and Karnopp's skyhook damper. A model is developed which allows comparison of different active suspension control algorithms. The Lotus modal control algorithm is reviewed, and compared with Karnopp's skyhook damper. It is shown that a tight inner closed loop allows the Lotus algorithm to achieve the inertial damping described by Kamopp for a single comer or quarter car. It is suggested that to achieve simultaneously high inertial damping and good disturbance rejection an inner force loop is desirable. A vehicle control scheme is presented which combines the Lotus modal decomposition with Karnopp's skyhook damper, allowing nearly optimal ride and simultaneously permitting modification of vehicle handling properties. |
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Keywords: | |
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