Impedance control of an active suspension system |
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| Authors: | Mohammad Mehdi Fateh Seyed Sina Alavi |
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| Affiliation: | 1. Department of Mechanical Engineering, Khalifa University, PO Box 127788, Abu Dhabi, United Arab Emirates;2. Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada;1. NBN Sinhgad School of Engineering, Pune, India;2. Tata Consultancy Services, Switzerland;3. College of Engineering, Pune, India;1. Institute of Automatic Control, Technische Universität München, 85748 Garching, Germany;2. AUDI AG, 85049 Ingolstadt, Germany;1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong;2. Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore;1. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, China;2. Faculty of Science, King Abdulaziz University, Jeddah, Saudi Arabia |
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| Abstract: | A novel control system is developed to control dynamic behavior of a vehicle subject to road disturbances. The novelty of this paper is to apply the impedance control on an active vehicle suspension system operated by a hydraulic actuator. A relation between the passenger comfort and vehicle handling is derived using the impedance parameters. The impedance control law is simple, free of model and can be applied for a broad range of road conditions including a flat road. Impedance control is achieved through two interior loops which are force control of the actuator by feedback linearization and fuzzy control loop to track a desired body displacement provided by the impedance rule. The system stability is analyzed. A quarter-car model of suspension system and a nonlinear model of hydraulic actuator are used to simulate the control system. |
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