Skip to main content
SpringerLink
Log in

Observer-based wheelbase preview control of active vehicle suspensions

  • Published:
KSME International Journal Aims and scope Submit manuscript

Abstract

Optimal observer-based wheelbase preview regulator problem is investigated for active vehicle suspension systems. It is shown that the problem reduces to the classical linear quadratic Gaussian problem, whose solution is well defined, by augmenting dynamics of system and road inputs. The resulting optimal controller is in the form of augmented state feedback controller and this augmented state is estimated by Kalman-Bucy filter using dynamics of the augmented system. Numerical examples of a half car model are given to verify the performance improvement achievable with the proposed controller.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Abbreviations

A :

Continuous-time system matrix in state equation

a,(b) :

Distance between center of mass of main vehicle body and front (rear) suspension

B :

Continuous-time input distribution matrix in state equation

C :

Continuous-time output matrix in output equation

D :

Continuous-time input distribution matrix in output equation

E :

Continuous-time disturbance distribution matrix in state equation

F :

Discrete-time equivalent of E

G :

Discrete-time equivalent of A

H :

Discrete-time equivalent of B

l :

Moment of inertia of main vehicle body

k f1, (k r1):

Stiffness connecting main vehicle body and front (rear) axle

k f2, (k r2):

Front (rear) tire stiffness

L :

Continuous-time disturbance distribution matrix in output equation

M :

Mass of main vehicle body

m f, (m f):

Mass of front (rear) axle

v :

Vehicle speed (m/sec)

Z 0f, (Z 0r):

Front (rear) road displacement (m)

ω:

Circular frequency (rad/sec)

References

  • Antonio, M. and Masao, Nagai, 1992. “Optimal Preview Control of Rear Suspension Using Nonlinear Neural Network,”Proceeding of the International Symposium on Advanced Vehicle Control, pp. 117–122.

  • Araki Y., Oya M., and Harada H., 1994, “Preview Control of Active Suspension Using Disturbance of Front Wheel,”Proceeding of the International Symposium on Advanced Vehicle Control, pp. 299–304.

  • Åstöm, K. J., 1970. Linear Stochastic Control Theory, “Introduction to Stochastic Control Theory,” Academic Press, SAN DIEGO, pp. 256–294.

    Google Scholar 

  • Bender, E. K., 1968, “Optimum Linear Preview Control with Application to Vehicle Suspension,”ASME Journal of Basic Engineering, Ser. D. Vol. 90, No. 2, pp. 213–221.

    Google Scholar 

  • Crolla D. A. and Abdel-Hady M. B. A., 1991, “Active Suspension Control: Performance Comparisons Using Control Laws Applied to a Full Vehicle Model,”Vehicle System Dynamics, Vol. 20, pp. 107–120.

    Article  Google Scholar 

  • Franklin, G. F., Powell, J. D. and Workman, M. L., 1990, “Multivariable and Optimal Control,”Digital Control of Dynamic Systems, 2nd Edition, Addison Wesley, pp. 417–482.

  • Hac, A. and Youn, I., 1993, “Optimal Design of Active and Semi-Active Suspensions Including Time Delays and Preview,”ASME Journal of Vibration and Acoustics, Vol. 115, pp. 498–508.

    Article  Google Scholar 

  • Huisman, R. G. M., Veldpaus, F.E., van Heck, J. G. A. M. and Kok, J. J., 1994, “Application of a Preview Controlled Active Suspension to a (Non) linear 2-D Truck Model.”Proceeding of the International Symposium on Advanced Vehicle Control, pp. 293–298.

  • Jang, J.-H., and Han, C.-S., 1997, “Sensitivity Analysis of Side Slip Angle for a Front Wheel Steering Vehicle: A Frequency Domain Approach,”KSME International Journal, Vol. 11, No. 4, pp. 367–378.

    Google Scholar 

  • Kwak, B.-H., 1993, “A Study on the Robust Active Suspension Controller Design,” Master Thesis. Korea Advanced Institute of Science and Technology, Dept. Of Mechanical Engineering.

  • Louam, N., Wilson, D. A. and Sharp, R. S., 1988, “Optimal Control of a Vehicle Suspension Incorporating the Time Delay Between Front and Rear Wheel Inputs,”Vehicle System Dynamics, Vol. 17, pp. 317–336.

    Article  Google Scholar 

  • Pilbeam, C. and Sharp, R. S. 1993, “On the Preview Control of Limited Bandwidth Vehicle Suspensions,” Proc of Instn Mech Engrs, Part D:Journal of Automobile Engineering, Vol. 207, pp. 185–193.

    Article  Google Scholar 

  • Roh, H.-S. and Park, Y., 1997, “Stochastic Optimal Preview Control of Active Suspension,” Vehicle System Dynamics, (submitted).

  • Yong, B., 1997, “Contour-Following of a Force-Controlled Industrial Robot Using Preview Control,”KSME International Journal, Vol. 11, No. 2, pp. 115–124.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. NoVIC, Korea Advanced Institute of Science and Technology, Korea

    Hyoun-Surk Roh & Youngjin Park

Authors
  1. Hyoun-Surk Roh
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Youngjin Park
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Roh, HS., Park, Y. Observer-based wheelbase preview control of active vehicle suspensions. KSME International Journal 12, 782–791 (1998). https://doi.org/10.1007/BF02945545

Download citation

  • Received:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF02945545

Key Words

Search

Navigation