Scribd Logo
Upload

Welcome to Scribd!

  • 48 views

    Design of A Modified Linear Quadratic Regulator For Vibration Control of Suspension Systems

    Uploaded by

    Try Susanto
    This document describes a study on designing a modified linear quadratic regulator (LQR) controller for an active vehicle suspension system to control vibrations. The system is modeled as a nonlinear two-degree-of-freedom quarter car model subjected to unknown road inputs. Typically, LQR controllers assume linear system models and cannot handle nonlinearities and uncertainties. The authors modify the standard LQR design to address these issues and test it on a prototype suspension system, finding it provides better vibration control than a PID controller.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Design of A Modified Linear Quadratic Regulator For Vibration Control of Suspension Systems

    Uploaded by

    Try Susanto
    48 views2 pages
    This document describes a study on designing a modified linear quadratic regulator (LQR) controller for an active vehicle suspension system to control vibrations. The system is modeled as a nonlinear two-degree-of-freedom quarter car model subjected to unknown road inputs. Typically, LQR controllers assume linear system models and cannot handle nonlinearities and uncertainties. The authors modify the standard LQR design to address these issues and test it on a prototype suspension system, finding it provides better vibration control than a PID controller.

    Original Description:

    jurnal

    Original Title

    84b39370dfc4f81106f91caafd2a7493

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document describes a study on designing a modified linear quadratic regulator (LQR) controller for an active vehicle suspension system to control vibrations. The system is modeled as a nonlinear two-degree-of-freedom quarter car model subjected to unknown road inputs. Typically, LQR controllers assume linear system models and cannot handle nonlinearities and uncertainties. The authors modify the standard LQR design to address these issues and test it on a prototype suspension system, finding it provides better vibration control than a PID controller.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    48 views2 pages

    Design of A Modified Linear Quadratic Regulator For Vibration Control of Suspension Systems

    Uploaded by

    Try Susanto
    This document describes a study on designing a modified linear quadratic regulator (LQR) controller for an active vehicle suspension system to control vibrations. The system is modeled as a nonlinear two-degree-of-freedom quarter car model subjected to unknown road inputs. Typically, LQR controllers assume linear system models and cannot handle nonlinearities and uncertainties. The authors modify the standard LQR design to address these issues and test it on a prototype suspension system, finding it provides better vibration control than a PID controller.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 2

    See

    discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/236018450

    Design of a modified linear quadratic regulator


    for vibration control of suspension systems

    Article June 2011


    DOI: 10.1556/IRASE.2.2011.1.4

    CITATION READS

    1 99

    4 authors, including:

    Sahin YILDIRIM Menderes Kalkat


    Erciyes niversitesi mer Halisdemir University
    130 PUBLICATIONS 599 CITATIONS 10 PUBLICATIONS 55 CITATIONS

    SEE PROFILE SEE PROFILE

    Gza Husi
    University of Debrecen
    101 PUBLICATIONS 72 CITATIONS

    SEE PROFILE

    Some of the authors of this publication are also working on these related projects:

    Industry 4.0 View project

    Design and Control Mobile Nurse Robot View project

    All content following this page was uploaded by Sahin YILDIRIM on 11 January 2016.

    The user has requested enhancement of the downloaded file.


    . Yldrm et al. / Carpathian Journal of Electronic and Computer Engineering 2 (2009) 7-12 7

    Design of a Modified Linear Quadratic Regulator


    for Vibration Control of Suspension Systems
    . Yldrm *, G. Husi**
    * Erciyes University, Faculty of Engineering,Mechanical Engineering Department, Kayseri, Turkey.
    [email protected]

    ** University of Debrecen, Faculty of Engineering, Electrical Engineering and Mechatronics Department, Debrecen,
    Husngary. [email protected]

    Abstract-This paper is concerned with the construction of a A quarter car model has been controlled using sliding
    prototype active vehicle suspension system for a one-wheel mode control concept [5]. In their investigation, the
    car model by using a modified Linear Quadric Regulator sliding mode control denoted as the active control is
    (LQR). The experimental system is approximately described relatively simpler in the structure of the controller than
    by non-linear system with two degrees of freedom subject to those based on fuzzy reasoning and neural network, and it
    excitation from a road profile. The active control at the guarantees the system stability. The quarter car model to
    suspension location is designed by using feedback constant be considered here is approximately described as a non-
    gain controller structure. The experimental results show linear two degrees-of-freedom (DOF) system subject to
    that the active suspension system with LQR more improves excitation from a road profile. The time variation of the
    the control performance than standard PID controller. On road profile is assumed to be unknown, and it is estimated
    the other hand, the results improved that the modified LQR by using the minimum order observer on the basis of a
    has superior performance for controlling suspension linear system transformed from the exact non-linear
    systems in real time. system.
    Keywords: Suspension system, Linear Quadratic Regulator, To achieve a compromise between several performance
    Vibration control requirements for uncertain active suspension systems,
    very recently a robust multi-objective controller was
    I. INTRODUCTION designed for quarter-car model whose system matrices are
    subject to parameter uncertainties characterized by a given
    polytope [6]. The main objective there is to use a robust
    Recently, the problem of active suspensions for car state-feedback controller to achieve multiple performance
    models has been much interested in the design and objectives for different controlled output signals. It is
    development because the active suspensions relatively worth mentioning that the solutions are given in the
    improve ride comfort of passengers in high-speed ground quadric framework.
    transportation. A semi-active control of vehicle suspension system
    The investigations of active suspension systems for car with magnetorheological MR damper has been presented
    models have been drawn much interest in recent years. in [7]. In their paper, MR damper working in flow mode
    The active suspension system is more effective to ride was designed. Performance testing was done for this
    comfort of passengers, but its construction generally damper with INSTRON machine.
    provides higher production cost then semi-active and
    passive suspension systems [1]. The construction of the II. PROTOTYPE VEHICLE SUSPENSION SYSTEM
    active suspension system is mainly based on linear The vehicle suspension systems basically consist of
    quadric control theory where a car model is assumed to be wishbones, the spring, and shock absorber to transmit and
    a linear or approximate linear system. However, as the car also filter all forces between body and road. The task of
    model is practically denoted as a complicated system
    including non-negligible non-linearity and uncertainty, the the spring is to carry the body-mass and to isolate the
    derivation of the active control becomes relatively body from road disturbances and thus contributes to drive
    complicated. Recently, various kinds of active suspension comfort. The damper contributes to both driving safety
    systems have been derived for such complicated systems and comfort. Its task is the damping of body and vehicle
    using the concepts of fuzzy reasoning [2], neural network oscillations, where the avoidance of wheel oscillations
    [3] and sliding mode theory [4]. The obtained active directly refers to drive safety, as a non-bouncing wheel is
    suspension systems provide more effective performance in the condition for transferring road-contact forces.
    the vibration isolation of the car body, but need more Considering the vertical dynamics and taking into
    complicated structure in the suspension system than the account the vehicles symmetry, a suspension can in a
    linear active suspension system derived on the basis of first step be reduced to the so-called quarter-car model as
    LQR theory. shown in Figure 1(a). A quarter-car model consists of
    one-fourth of the body mass, suspension components and

    ISSN 1844 9689

    View publication stats

    You might also like