Title: Full-car active suspension based on H₂/generalised H₂ output feedback control

Authors: Shuyou Yu; Fei Wang; Jing Wang; Hong Chen

Addresses: State Key Laboratory of Automotive Simulation and Control, Department of Control Science and Engineering, Jilin University, Mailbox # 9, Nanhu Campus, Nanhu Road #5372, Changchun 130012, China ' Department of Control Science and Engineering, Jilin University, Room 520, Laboratory Building, Nanling Campus, Changchun 130025, China ' Department of Control Science and Engineering, Jilin University, China, Mailbox #9, Nanhu Campus, Nanhu Road #5372, Changchun 130012, China ' State Key Laboratory of Automotive Simulation and Control, Department of Control Science and Engineering, Jilin University, China, Room 427, Laboratory Building, Nanling Campus, Changchun 130025, China

Abstract: This paper establishes a 15 degree-of-freedom (DOF) full-car simulation model for the car Hongqi HQ3. The effectiveness of the model is evaluated by comparison of the real data of HQ3 with the data of the model. Output feedback control of the active suspension is designed based on a half-car model. High quality ride comfort is achieved by minimising the H₂ norm from disturbances on the road to the vertical acceleration and the pitch acceleration of the car, while safety constraints such as suspension dynamic travels, static/dynamic load ratios and normalised load flows are guaranteed by the generalised H₂ norm. The 15 DOF full-car model, together with the left and the right output feedback controllers, form a closed-loop system. The simulation result of the full-car shows that the active suspension can greatly reduce the vertical acceleration, pitch acceleration and roll acceleration as well as satisfy all constraints.

Keywords: full-car simulation; vehicle modelling; active suspension systems; H2/generalised H2 control; energy bounded peak; feedback control; vehicle suspension; ride comfort; safety constraints; static load ratios; dynamic load ratios; load flows; simulation; vertical acceleration; pitch acceleration; roll acceleration.

DOI: 10.1504/IJVD.2015.071074

International Journal of Vehicle Design, 2015 Vol.68 No.1/2/3, pp.37 - 54

Received: 27 Feb 2014
Accepted: 21 Oct 2014
Published online: 11 Aug 2015 *

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