This paper deals with the design of an H ∞ -observer to estimate the state variables of the vertical car dynamics to be used for suspension control applications. The proposed methodology allows to cope with both the disturbance decoupling problem (for the road profile effects) and the implementation issue (through observer pole placement). The considered model is a 7 DOF full-car vertical model subject to unknown ground disturbances whose effects on the estimated state variables are minimized using the H ∞ framework.Some experiments on a real test car highlight the performances of this observer which could be used in many advanced control strategies to improve the comfort and road holding of a vehicle using a reduced number of sensors.
International audienceThis paper presents the INOVE "Integrated approach for observation and control of vehicle dynamics" project. The aim and organization of the project are described and we present some recent results on the proposed integrated approach to design new methodologies for the improvement of the vehicle dynamical behaviour
This paper deals with modeling and control of a semi-active suspension made up with a new industrial semi-active damper, in order to improve comfort and road-holding level of the vehicle. In the past few years, many control strategies have been developed using linear suspension models. A nonlinear model of the industrial damper is developed with physical equations and integrated in a quarter vehicle model. Some tests are done on the real damper in order to validate the model. The comfort and road-holding level of the semi-active suspension are studied using some adapted criteria and compared to the passive ones using simulations. These results emphasize the performances improvement resulting from the control of the damper.
In this paper, a new control strategy is developed to improve comfort and roadholding of a ground vehicle equipped with an industrial damper. This damper can be controlled by means of a small servomechanism which adjusts the damping rate. The main controller is a linear parameter varying (LP V) static state-feedback controller synthesized in the H∞/LP V framework to compute the required damping force that minimizes the movements of the vehicle's body on one hand, and the deflection of the tire on the other hand. A scheduling strategy is developed on the basis of the real damper behavior to improve performances without using active damping forces which would be useless for such a semiactive system. Here the controller takes the constraints of the technology and the damper behavior into account and is easy to implement in an industrial application. The control of the servomechanism is provided by a simple PID controller that ensures that the damper provides the required force. The performances are illustrated on an identified nonlinear model of the damper embedded in a quarter car model. The comfort and roadholding level of the semi-active suspension are studied using some adapted criteria and compared with the passive ones. Some simulations emphasize the comfort and roadholding improvements of this control stategy that will be tested by SOBEN on a testing car in the near future.
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