A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model

Jiang-Tao Cao; Hong-Hai Liu; Ping Li; David J. Brown; Georgi Dimirovski

doi:10.1007/s11633-007-0236-8

July 2007

Article Contents

Jiang-Tao Cao, Hong-Hai Liu, Ping Li, David J. Brown and Georgi Dimirovski. A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model. International Journal of Automation and Computing, vol. 4, no. 3, pp. 236-242, 2007. doi: 10.1007/s11633-007-0236-8

Cite as: Jiang-Tao Cao, Hong-Hai Liu, Ping Li, David J. Brown and Georgi Dimirovski. A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model. International Journal of Automation and Computing, vol. 4, no. 3, pp. 236-242, 2007. doi: 10.1007/s11633-007-0236-8

A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model

1.
Institute of Industrial Research, University of Portsmouth, Portsmouth PO13QL, UK;
2.
School of Automation, Northwestern Polytechnical University, Xi'an 710072, PRC;
3.
School of Information Control Engineering, Liaoning Shihua University, Fushun 113001, PRC;
4.
Department of Computer Engineering, Dogus University of Istanbul, Istanbul TR-34722, Turkey

Received: 2007-03-05

Abstract

An improved half-vehicle model has been proposed for active suspension control systems,in contrast to existing models, it allows to explore the nature of the effect of vehicle speed changes by introducing a state vector of vehicle pitch angle.Three control strategies of linear quadratic control (LQ),improved LQ (ILQ) and wheelbase preview LQ (WLQ) have been implemented into the proposed model.ILQ has integrated an additional control parameter into LQ by concerning the correlation between acceleration values and their corresponding pitch angles.Simulation results have showed the effectiveness of the proposed model in terms of LQ,ILQ and WLQ control strategies.
- Half-vehicle models,
- active suspension,
- attitude control strategies

References

[1]	D.Hrovat.Optimal Active Suspension Structures for Quarter-car Vehicle Models.Automatica,vol.26,no.5,pp.845-860,1990.
[2]	M.J.Crosby,D.C.Karnopp.The Active Damper.Shock and Vibration Bulletin,vol.43,no.2,pp.102-108,1973.
[3]	E.Esmailzadeh,H.Bateni.Servo-valve Controlled Pneumatic Suspensions.Journal of Mechanical Engineering Science,vol.21,no.1,pp.7-18,1979.
[4]	D.C.Karnopp,M.J.Crosby,R.A.Harwood.Vibration Control Using Semi-active Force Generators.American Society of Mechanical Engineers,Journal Engineering Industry,vol.96,no.2,pp.619-626,1974.
[5]	M.Nagai.Recent Researches on Active Suspensions for Ground Vehicles.JSME International Journal,Series C:Dynamics,Control,Robotics,Design and Manufacturing,vol.36,no.2,pp.161-170,1993.
[6]	D.Hrovat.Survey of Advanced Suspension Developments and Related Optimal Control Applications.Automatica,vol.33,no.10,pp.1781-1817,1997.
[7]	S.M.EI-Demerdash,A.M.Selim King,D.A.Crolla.Vehicle Body Attitude Control Using an Electronically Controlled Active Suspension.SAE Transactions,vol.108,no.1,pp.1232-1242,1999.
[8]	F Yu,J.W.Zhang,D.A.Crolla.A Study of a Kalman Filter Active Vehicle Suspension System Using Correlation of Front and Rear Wheel Road Inputs.In Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,vol.214,no.5,pp.493-502,2000.
[9]	M.Raghavan.Suspension Kinematic Structure for Passive Control of Vehicle Attitude.International Journal of Vehicle Design,vol.12,no.5-6,pp.525-547,1991.
[10]	J.Wang,W.L.Xu,W.W Chen.Optimal Hankel-Norm Reduction of Active Suspension Model with Application in Suspension Multiobjective Control.Internationa] Journal of Vehicle Design,vol.40,no.1-3,pp.175-195,2006.
[11]	J.B.Lu,M.DePoyster.Multiobjective Optimal Suspension Control to Achieve Integrated Ride and Handling Performance.IEEE Transactions on Control Systems Technology,vol.10,no.6,pp.807-821,2002.
[12]	E.Esmailzadeh,H.Bateni.Optimal Active Vehicle Suspensions with Full State-feedback Control.SAE Transactions,vol.101,no.1,pp.784-795,1992.
[13]	B.Gao,J.Darling,D.G.Tilley,R.A.Williams,A.Bean,J.Donahue.Control of a Hydropneumatic Active Suspension Based on a Non-linear Quarter-car Model.Proceedings of the Institution of Mechanical Engineers,Part Ⅰ:Journal of Systems and Control Engineering,vol.220,no.1,pp.15-31,2006.
[14]	S.M.EI-Demerdash.Performance of Limited Bandwidth Active Suspension Based on a Half Vehicle Model.SAE International Congress and Exposition,Detroit,vol.107,no.1,pp.23-26,1998.
[15]	J.Wang,D.A.Wilson,W.Xu,D.A.Crolla.Integrated Vehicle Ride and Steady-state Handling Control via Active Suspensions.International Journal of Vehicle Design,vol.42,no.3-4,pp.306-327,2006.
[16]	A.Mansour,D.A.Crolla.Analysis and Design of Limited Bandwidth Active Hydropneumatic Vehicle Suspension Systems.SAE Transactions,vol.109,no.6,pp.2100-2108,2000.
[17]	Q.Yu,J.Ma.Analysis of Automotive Acceleration Performance Improvement Due to Active Suspension.Journal of Vehicle Technology,vol.37,no.3,pp.20-22,2005.
[18]	T.Yoshimura,Y.Emoto.Steering and Suspension System of a Full Car Model Using Fuzzy Reasoning and Disturbance Observers.International Journal of Vehicle Autonomous Systems,vol.1,no.3-4,pp.363-386,2003.
[19]	A.Alleyne.Improved Vehicle Performance Using Combined Suspension and Braking Forces.In Proceeding of the American Control Conference,vol.3,no.1,pp.1672-1676,1995.

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通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

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A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model

1. Institute of Industrial Research, University of Portsmouth, Portsmouth PO13QL, UK;

2. School of Automation, Northwestern Polytechnical University, Xi'an 710072, PRC;

3. School of Information Control Engineering, Liaoning Shihua University, Fushun 113001, PRC;

4. Department of Computer Engineering, Dogus University of Istanbul, Istanbul TR-34722, Turkey

Received: 2007-03-05

Key words:

Abstract: An improved half-vehicle model has been proposed for active suspension control systems,in contrast to existing models, it allows to explore the nature of the effect of vehicle speed changes by introducing a state vector of vehicle pitch angle.Three control strategies of linear quadratic control (LQ),improved LQ (ILQ) and wheelbase preview LQ (WLQ) have been implemented into the proposed model.ILQ has integrated an additional control parameter into LQ by concerning the correlation between acceleration values and their corresponding pitch angles.Simulation results have showed the effectiveness of the proposed model in terms of LQ,ILQ and WLQ control strategies.

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Reference (19)

[1]	D.Hrovat.Optimal Active Suspension Structures for Quarter-car Vehicle Models.Automatica,vol.26,no.5,pp.845-860,1990.
[2]	M.J.Crosby,D.C.Karnopp.The Active Damper.Shock and Vibration Bulletin,vol.43,no.2,pp.102-108,1973.
[3]	E.Esmailzadeh,H.Bateni.Servo-valve Controlled Pneumatic Suspensions.Journal of Mechanical Engineering Science,vol.21,no.1,pp.7-18,1979.
[4]	D.C.Karnopp,M.J.Crosby,R.A.Harwood.Vibration Control Using Semi-active Force Generators.American Society of Mechanical Engineers,Journal Engineering Industry,vol.96,no.2,pp.619-626,1974.
[5]	M.Nagai.Recent Researches on Active Suspensions for Ground Vehicles.JSME International Journal,Series C:Dynamics,Control,Robotics,Design and Manufacturing,vol.36,no.2,pp.161-170,1993.
[6]	D.Hrovat.Survey of Advanced Suspension Developments and Related Optimal Control Applications.Automatica,vol.33,no.10,pp.1781-1817,1997.
[7]	S.M.EI-Demerdash,A.M.Selim King,D.A.Crolla.Vehicle Body Attitude Control Using an Electronically Controlled Active Suspension.SAE Transactions,vol.108,no.1,pp.1232-1242,1999.
[8]	F Yu,J.W.Zhang,D.A.Crolla.A Study of a Kalman Filter Active Vehicle Suspension System Using Correlation of Front and Rear Wheel Road Inputs.In Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,vol.214,no.5,pp.493-502,2000.
[9]	M.Raghavan.Suspension Kinematic Structure for Passive Control of Vehicle Attitude.International Journal of Vehicle Design,vol.12,no.5-6,pp.525-547,1991.
[10]	J.Wang,W.L.Xu,W.W Chen.Optimal Hankel-Norm Reduction of Active Suspension Model with Application in Suspension Multiobjective Control.Internationa] Journal of Vehicle Design,vol.40,no.1-3,pp.175-195,2006.
[11]	J.B.Lu,M.DePoyster.Multiobjective Optimal Suspension Control to Achieve Integrated Ride and Handling Performance.IEEE Transactions on Control Systems Technology,vol.10,no.6,pp.807-821,2002.
[12]	E.Esmailzadeh,H.Bateni.Optimal Active Vehicle Suspensions with Full State-feedback Control.SAE Transactions,vol.101,no.1,pp.784-795,1992.
[13]	B.Gao,J.Darling,D.G.Tilley,R.A.Williams,A.Bean,J.Donahue.Control of a Hydropneumatic Active Suspension Based on a Non-linear Quarter-car Model.Proceedings of the Institution of Mechanical Engineers,Part Ⅰ:Journal of Systems and Control Engineering,vol.220,no.1,pp.15-31,2006.
[14]	S.M.EI-Demerdash.Performance of Limited Bandwidth Active Suspension Based on a Half Vehicle Model.SAE International Congress and Exposition,Detroit,vol.107,no.1,pp.23-26,1998.
[15]	J.Wang,D.A.Wilson,W.Xu,D.A.Crolla.Integrated Vehicle Ride and Steady-state Handling Control via Active Suspensions.International Journal of Vehicle Design,vol.42,no.3-4,pp.306-327,2006.
[16]	A.Mansour,D.A.Crolla.Analysis and Design of Limited Bandwidth Active Hydropneumatic Vehicle Suspension Systems.SAE Transactions,vol.109,no.6,pp.2100-2108,2000.
[17]	Q.Yu,J.Ma.Analysis of Automotive Acceleration Performance Improvement Due to Active Suspension.Journal of Vehicle Technology,vol.37,no.3,pp.20-22,2005.
[18]	T.Yoshimura,Y.Emoto.Steering and Suspension System of a Full Car Model Using Fuzzy Reasoning and Disturbance Observers.International Journal of Vehicle Autonomous Systems,vol.1,no.3-4,pp.363-386,2003.
[19]	A.Alleyne.Improved Vehicle Performance Using Combined Suspension and Braking Forces.In Proceeding of the American Control Conference,vol.3,no.1,pp.1672-1676,1995.

A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model

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通讯作者: 陈斌, bchen63@163.com

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A Study of Electric Vehicle Suspension Control System Based on an Improved Half-vehicle Model

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