Active Vehicle Suspension with Anti-Roll System Based on Advanced Sliding Mode Controller

Jarosław Konieczny, Marek Sibielak and Waldemar Rączka
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Jarosław Konieczny: Department of Process Control, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Krakow, Poland
Marek Sibielak: Department of Process Control, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Krakow, Poland
Waldemar Rączka: Department of Process Control, AGH University of Science and Technology, Al. Mickiewicza 30, 30-059 Krakow, Poland

Energies, 2020, vol. 13, issue 21, 1-27

Abstract: In the paper authors consider the active suspension of the wheeled vehicle. The proposed controller consists of a sliding mode controller used to roll reduction and linear regulators with quadratic performance index (LQRs) for struts control was shown. The energy consumption optimization was taken into account at the stage of strut controllers synthesis. The studied system is half of the active vehicle suspension using hydraulic actuators to increase the ride comfort and keeping safety. Instead of installing additional actuators in the form of active anti-roll bars, it has been decided to expand the active suspension control algorithm by adding extra functionality that accounts for the roll. The suggested algorithm synthesis method is based on the object decomposition into two subsystems whose controllers can be synthesized separately. Individual suspension struts are controlled by actuators that use the controllers whose parameters have been calculated with the LQR method. The mathematical model of the actuator applied in the work takes into account its nonlinear nature and the dynamics of the servovalve. The simulation tests of the built active suspension control system have been performed. In the proposed solution, the vertical displacements caused by uneven road surface are reduced by controllers related directly to suspension strut actuators.

Keywords: sliding mode controller; active vehicle suspension; hydraulic actuator; optimal controller (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (5)

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