This paper presents the control design and analysis of a non-linear model of a MacPherson suspension system equipped with a magnetorheological (MR) damper. The model suspension considered incorporates the kinematics of the suspension linkages. A state feedback controller is developed using an L 2-gain analysis based on the concept of energy dissipation. The controller is effectively a saturated PID. The performance of the closed-loop system is compared with a purely passive MacPherson suspension system and a semi-active damper, whose damping coefficient is tunned by a Skyhook-Acceleration Driven Damping (SH-ADD) method. Simulation results show that the developed controller outperforms the passive case at the rattle space, tire hop frequencies and the SH-ADD at tire hop frequency while showing a close performance to the SH-ADD at the rattle space frequency. Time domain simulation results confirm that the control strategy satisfies the dissipative constraint.
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ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
October 17–19, 2012
Fort Lauderdale, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4531-8
PROCEEDINGS PAPER
Nonlinear Disturbance Rejection for Semi-Active MacPherson Suspension System
Olugbenga M. Anubi,
Olugbenga M. Anubi
University of Florida, Gainesville, FL
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Carl D. Crane, III,
Carl D. Crane, III
University of Florida, Gainesville, FL
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W. E. Dixon
W. E. Dixon
University of Florida, Gainesville, FL
Search for other works by this author on:
Olugbenga M. Anubi
University of Florida, Gainesville, FL
Carl D. Crane, III
University of Florida, Gainesville, FL
W. E. Dixon
University of Florida, Gainesville, FL
Paper No:
DSCC2012-MOVIC2012-8702, pp. 513-522; 10 pages
Published Online:
September 17, 2013
Citation
Anubi, OM, Crane, CD, III, & Dixon, WE. "Nonlinear Disturbance Rejection for Semi-Active MacPherson Suspension System." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 513-522. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8702
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