NDLI: Active suspension controller using MPC based on a full-car model with preview information

Content Provider	IEEE Xplore Digital Library
Author	Gohrle, C. Wagner, A. Schindler, A. Sawodny, O.
Copyright Year	2012
Description	Author affiliation: Audi AG, Ingolstadt, Germany (Wagner, A.; Schindler, A.) \|\| Inst. of Syst. Dynamics, Univ. of Stuttgart, Stuttgart, Germany (Gohrle, C.; Sawodny, O.)
Abstract	Active suspension systems in vehicles provide the possibility to overcome the trade-off between ride comfort and handling characteristics of passive systems. Active suspensions have even greater potential if preview information of the oncoming road height profile is available. This paper presents a control strategy for vehicles with active suspensions and available preview information, which has to be obtained by a sensor mounted in front of the car. The controller is based on a full-car model. To incorporate all hard constraints on control variables, a Model Predictive Control (MPC) design scheme is applied. Since wheel dynamics are not within the bandwidth of energy-saving, low bandwidth active suspension systems, the controller is based on the idea, that only vehicle body dynamics and not wheel dynamics should explicitly considered in controller design. Accordingly the cost function of the controller considers only the minimization of vehicle body accelerations and hence the improvement of ride comfort. It is shown, that all the same, handling characteristics are also improved.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	497
Ending Page	502
File Size	446866
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6314680
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Vehicles Actuators Wheels Suspensions Vehicle dynamics Springs Roads
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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