Mu-synthesis PID control of full-car with parallel active link suspension under variable payload
Author(s)
Feng, Zilin
Yu, Min
Evangelou, Simos A
Jaimoukha, Imad M
Dini, Daniele
Type
Journal Article
Abstract
This paper presents a combined μ -synthesis PID control scheme, employing a frequency separation paradigm, for a recently proposed novel active suspension, the Parallel Active Link Suspension (PALS). The developed μ -synthesis control scheme is superior to the conventional H∞ control, previously designed for the PALS, in terms of ride comfort and road holding (higher frequency dynamics), with important realistic uncertainties, such as in vehicle payload, taken into account. The developed PID control method is applied to guarantee good chassis attitude control capabilities and minimization of pitch and roll motions (low frequency dynamics). A multi-objective control method, which merges the aforementioned PID and μ -synthesis-based controls is further introduced to achieve simultaneously the low frequency mitigation of attitude motions and the high frequency vibration suppression of the vehicle. A seven-degree-of-freedom Sport Utility Vehicle (SUV) full car model with PALS, is employed in this work to test the synthesized controller by nonlinear simulations with different ISO-defined road events and variable vehicle payload. The results demonstrate the control scheme's significant robustness and performance, as compared to the conventional passive suspension as well as the actively controlled PALS by conventional H∞ control, achieved for a wide range of vehicle payload considered in the investigation.
Date Issued
2023-01-01
Date Acceptance
2022-09-01
Citation
IEEE Transactions on Vehicular Technology, 2023, 72 (1), pp.176-189
ISSN
0018-9545
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Start Page
176
End Page
189
Journal / Book Title
IEEE Transactions on Vehicular Technology
Volume
72
Issue
1
Copyright Statement
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://ieeexplore.ieee.org/document/9873975
Publication Status
Published
Date Publish Online
2022-09-01