• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.169-174
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• 1999

In this paper, the CLQR(Constrained LQR) controller, which considers the actuator saturation in a cross-product term of a given performance index for an automotive active suspension control has been proposed. The effects of actuator saturations have been reflected directly in the states by using the linear relation between the control input and states. The method proposed here is more effective and intuitive compared with the conventional schemes. The CLQR has been applied to designing an automotive active suspension control system to verify its effectiveness and practical aspects.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.108-120
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• 1998

In this paper, a new control system design algorithm, which has the advantages of the existing LQR and eigenstrcture assignment methods, is proposed. The method of the transformation matrix via block controller is utilized to develop the scheme. Using the proposed algorithm, LQR weighting matrices q and R, which satisfy the desired closed-loop eigenvalues and eigenvectors, can be achieved using only simple matrix computations. The usefulness of the proposed scheme is verified by applying to a numerical example and an automotive active suspension control system design.

• International Journal of Automotive Technology
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• v.4 no.4
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• pp.181-191
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• 2003

Since the nonlinearity and uncertainties which inherently exist in vehicle system need to be considered in active suspension control law design, this paper proposes a new control strategy for active vehicle suspension systems by using a combined control scheme, i.e., respectively using a genetic algorithm (GA) based self-tuning PID controller and a fuzzy logic controller in two loops. In the control scheme, the PID controller is used to minimize vehicle body vertical acceleration, the fuzzy logic controller is to minimize pitch acceleration and meanwhile to attenuate vehicle body vertical acceleration further by tuning weighting factors. In order to improve the adaptability to the changes of plant parameters, based on the defined objectives, a genetic algorithm is introduced to tune the parameters of PID controller, the scaling factors, the gain values and the membership functions of fuzzy logic controller on-line. Taking a four degree-of-freedom nonlinear vehicle model as example, the proposed control scheme is applied and the simulations are carried out in different road disturbance input conditions. Simulation results show that the present control scheme is very effective in reducing peak values of vehicle body accelerations, especially within the most sensitive frequency range of human response, and in attenuating the excessive dynamic tire load to enhance road holding performance. The stability and adaptability are also showed even when the system is subject to severe road conditions, such as a pothole, an obstacle or a step input. Compared with conventional passive suspensions and the active vehicle suspension systems by using, e.g., linear fuzzy logic control, the combined PID and fuzzy control without parameters self-tuning, the new proposed control system with GA-based self-learning ability can improve vehicle ride comfort performance significantly and offer better system robustness.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.4
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• pp.27-38
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• 1994

In this paper, a simplified model of a hydraulic actuator system for a low-band type active suspension system is derived. To reduce the order of model, time constants of each chamber in hydraulic system are neglected except that of an accumulator. And the dynamics of a spool in the pressure control valve is regarded as a first-order system. The step response and the frequency response of the simplified second-order simulation model exhibit a good agreement with those of the actual system as well as those of the tenth-order simulation model. It is possible to simplify the tenth-order model to the second-order one. The low-band type active suspension model is built up by combining of a quarter car model test rig to testify the validity of the simplified model. The experimental results of suspension characteristics show that the simplified second-order hydraulic actuator model is reasonable to describe the dynamics of the actual hydraulic actuator system for a low-band type active suspension system.

• Transactions of the Korean Society of Automotive Engineers
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• v.1 no.1
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• pp.90-100
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• 1993

This paper presents some inherent characteristics of a semi-active variable damper featuring electro-rheological (ER) fluid. The damping force of the damper can be selectively adjusted or controlled by employing electric field to the ER fluid domain. This is possible owing to the pressure drop across the piston occured by field-dependent variable yield stress of the ER fluid. This is fundamentally different than the performance of a conventional adjustable viscous damper. To demonstrate the effectiveness and superiority over the conventional one, the proposed damper is incorporated with a suspension system. A quarter car model with the suspension system is formulated and represented by a state equation. By choosing numerical values based on realistic package size, power requirements and suitable ER properties, the performance characteristics of the suspension system are obtained and evaluated in both frequency and time domains. The effects of constant electric field and on-off controlled electric field which relates to the damping force are also examined.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.2
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• pp.31-41
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• 1997

Equations of motion for a 7 DOF full car model is developed in detail and used for the design of LQR based active suspension system. The frequency response to road disturbance input and the motion of a car passing unequal bumps were used to analyzed the dynamic characteristics of the 7 DOF full car with passive or active suspensions. The resulting linear equations of motion may be usefull in designing other types of active suspension.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.8
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• pp.190-198
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• 1999

Continuously controlled semi-active suspension system may improve ride and handling properties. Here, as a mechanism to control the fluid flow solenoid valve mechanism is introduced and added to the basic passive damper to create damping forces of the shock absorbers. The system may produce continuously controlled damping forces in both solenoid valve only and combination with passive shock absorber including fluid flow is studied, and then the combined model is added to the full vehicle model to evaluate its ride and handling performance. Finally, the simulation results are compared to the vehicle models having similar suspension system.

• Transactions of The Korea Fluid Power Systems Society
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• v.7 no.4
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• pp.32-38
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• 2010

A semi-active suspension is an automotive technology that controls the vertical movement of the vehicle while the car is driving. The system therefore virtually eliminates body roll and pitch variation in many driving situations including cornering, accelerating, and braking. This technology allows car manufacturers to achieve a higher degree of both ride quality and car handling by keeping the tires perpendicular to the road in corners, allowing for much higher levels of grip and control. An onboard computer detects body movement from sensors located throughout the vehicle and, using data calculated by opportune control techniques, controls the action of the suspension. Semi-active systems can change the viscous damping coefficient of the shock absorber, and do not add energy to the suspension system. Though limited in their intervention (for example, the control force can never have different direction than that of the current speed of the suspension), semi-active suspensions are less expensive to design and consume far less energy. In recent time, the research in semi-active suspensions has continued to advance with respect to their capabilities, narrowing the gap between semi-active and fully active suspension systems. In this paper we are studied the characteristics of vehicle movement during the field test with conventional and semi-active suspension system.

• Journal of the korean Society of Automotive Engineers
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• v.25 no.2
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• pp.32-34
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• 2003

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.6
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• pp.117-126
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• 1994

This paper deals with a robust semi-active control algorithm which is applicable to a semi-active suspension with a multi-state damper. Since the controllable damping rates are discrete in case of a multi-state semi-active damper, the desired damping rate can not be produced exactly even if force-velocity relations of a multi-state semi-active damper is completely known. In addition, damping characteristics of the semi-active dampers are different from damper to damper. A robust nonlinear control law based on sliding control is developed. The main objective of the proposed control strategies is to improve ride quality by tracking the desired active force with a multi-state damper of which the force-velocity relations are "not" completely known. The performance of th proposed semi-active control law is numerically compared to those of the control law based on a bilinear model and a passive suspension. The proposed control algorithm is robust to nonlinear characteristics and uncertainty of the force-Velocity relations of multi-state dampers.