Title: Adaptive active suspension to attain optimal performance and maintain static equilibrium level
Authors: R.V. Dukkipati, M.O.M. Osman, S.S. Vallurupalli
Addresses: Senior Research Officer, Vehicle Dynamics Laboratory, National Research Council, Ottawa, Canada. ' Chairman and Professor, Vehicle Dynamics Laboratory, National Research Council, Ottawa, Canada. ' Graduate student, Mechanical Engineering Dept. H549, Concordia University, 1455 De Maisonneve Blvd. West, Montreal, Canada
Abstract: An adaptive control approach for an active suspension to deal with a nonlinear time varying (NTV) vehicle-plant is discussed. A robust stable adaptive controller with time varying parameters is designed for control of an active suspension for a vehicle plant to obtain near optimal performance and maintain static equilibrium during parametric variations. Adaptive control of an active suspension for a NTV single input single output (SISO) vehicle-plant is considered. Adaptive controller based on error augmentation approach of model reference adaptive control (MRAC) with a velocity error term is derived to obtain the optimal performance without a priori knowledge of variations in vehicle plant parameters. The controller is designed for the first time to maintain static equilibrium irrespective of dynamic load shifts that occur during acceleration and deceleration manoeuvres. Optimal performance between good vibration isolation and stability or curving that can be achieved by this method is illustrated by simulation results. Results for drastic online and nominal parameter variations for deterministic and stochastic input are discussed. A block diagram illustrating the adaptive controller for practical implementation is also discussed.
Keywords: acceleration; deceleration; active suspension systems; actuators; adaptive control; vehicle braking; controller design; damping; multi input multi output; MIMO; model reference adaptive control; MRAC; parameters; single input single output; SISO; static equilibrium; stiffness; vehicle suspension; nonlinear time varying; NTV vehicle plant; vehicle design.
International Journal of Vehicle Design, 1993 Vol.14 No.5/6, pp.471 - 496
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