This paper presents a dynamic Luenberger's observer design with wheel dynamics as an essential component. 7DOF model of the vertical vehicle dynamics is modified for the case of independent-solid axle suspension and applied to predicting the vehicle body and wheel states. The observer greatly reduces the effect of uncertainty even with unknown road inputs. The design is verified through Carsim simulation and vehicle testing under variety of maneuvers including Fishhook and frequency response on a flat surface, straight line driving on a rough road, and on a cross-slope roads.

1.
Hrovat, D., 1993, “Application of optimal control to advanced automotive suspension design”, ASME J. Dyn. Syst., Measurement, Contr., pp. 328–342.
2.
Hrovat, D., 1997, “Survey of advanced suspension developments and related optimal control applications”, Automatica, pp. 1781–1816.
3.
Alleyne
A.
,
Hedrick
J. K.
,
1993
, “
Adaptive control for active suspension
”,
ASME Advanced Automotive Technol.
,
52
, pp.
7
13
.
4.
Abdel-Hardy
M. B. A.
,
Crolla
D. A.
,
1989
, “
Theoretical analysis of active suspension performance using a four-wheel model
”,
Proc. Inst. Mech.Eng.
,
203
(
D)
, pp.
125
135
.
5.
Abdel-Hardy
M. B. A.
,
Crolla
D. A.
,
1992
, “
Active suspension control algorithms for a fourwheel vehicle model
”,
Int. J. Vehicle Design
,
13
(
2)
, pp.
144
158
.
6.
Barak, P., 1985, “On a ride control algorithm for heave, pitch and roll motions of a motor vehicle”, Ph.D. dissertation, Dept. Mech. Eng., Wayne State Univ., Detroit, MI.
7.
Barak, P., Hrovat, D., 1988, “Application of the LQG approach to design of an automotive suspension for three dimensional vehicle models”, in: Proc. Int. Conf. on Advanced Suspensions, U.K.: IMECHE, London.
8.
Chalasani, R. M., 1986, “Ride performance potential of active suspension systems —Part II: Comprehensive analysis based on a full-car model”, Proceedings of ASME Symp. Simulation Ground Vehicles Transportation Syst., Anaheim, CA.
9.
Lu
J.
,
DePoyster
M.
,
2002
, “
Multiobjective Optimal Suspension Control to Achieve Integrated Ride and Handling Performance
”,
IEEE Transactions on Control Systems Technology
,
10
(
6)
, pp.
807
821
.
10.
Henry, R. R., Murty, B. V., 1994, “Quarter car variable force suspension system control”, US Patent No. 5276621.
11.
Henry, R. R., Applebee, M. A., Murty, B. V., 1995, “Full car semi-active suspension control based on quarter car control”, US Patent No. 5475596.
12.
Wong, J. Y., 1978, Theory of Ground Vehicles, John Wiley & Sons, New York.
13.
Gillespie, T. D., 1994, Fundamentals of Vehicle Dynamics, Society of Automotive Engineers Inc., Third printing.
14.
Huang, J., and Moshchuk, N., “Vehicle State Estimator for Roll Over Control”, GM ECI Lab Technical Report, 2005.
15.
Chen
H.-H. F.
,
Guenther
D. A.
, “
Self-Tuning Optimal Control of an Active Suspension
”,
SAE Transactions Section 2
,
98
, SAE-982485, pp.
19
24
16.
Siahkalroudi, V.N., “A new approach to control a semi-active suspension using different control strategies”, SAE Technical Paper Series, SAE-2002-01-1582.
17.
Satria, M., Best, M.C., “Comparison between Kalman filter and robust filter for vehicle handing dynamics state estimation”, SAE Technical Paper Series, SAE-2002-01-1185.
18.
Ackerman
J.
, “
Yaw rate and lateral acceleration feedback for four-wheel stearing
”,
AVEC
94
(No.
438204)
, pp.
165
170
.
19.
Yi
K.
,
Oh
T.
,
Suh
M. W.
, “
A robust semi-active suspension control law to improve ride quality
”,
AVEC
94
(No.
9438259)
, pp.
195
199
.
This content is only available via PDF.
You do not currently have access to this content.