0
Journal of Dynamic Systems, Measurement, and Control | Volume 127 | Issue 2 | TECHNICAL PAPERS
TECHNICAL PAPERS

Acceleration-Driven-Damper (ADD): An Optimal Control Algorithm For Comfort-Oriented Semiactive Suspensions

[+] Author and Article Information
Sergio M. Savaresi1

Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. da Vinci, 32, 20133 Milano, Italy

Enrico Silani, Sergio Bittanti

Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza L. da Vinci, 32, 20133 Milano, Italy

1

Corresponding Author. Phone: +39.02.2399.3545; Fax: +39.02.2399.3412; e-mail: savaresi@elet.polimi.it.

J. Dyn. Sys., Meas., Control 127(2), 218-229 (May 03, 2004) (12 pages) doi:10.1115/1.1898241 History: Received July 17, 2003; Revised May 03, 2004
Article
References
Figures
Citing Articles

The problem considered in this paper is the design and analysis of control strategies for semiactive suspensions in road vehicles. The most commonly used control framework is the well-known Sky–Hook (SH) damping. Two-state or linear approximation of the SH concept are typically implemented. The goal of this paper is to analyze the optimality of SH-based control algorithms, and to propose an innovative control strategy, named Acceleration-Driven-Damper (ADD) control. It is shown that ADD is optimal in the sense that it minimizes the vertical body acceleration (comfort objective) when no road-preview is available. This control strategy is extremely simple; it requires the same sensors of the SH algorithms, and a simple two-state controllable damper. In order to assess and to compare the closed-loop performance of the SH and ADD control strategies, both a theoretical and a numerical analysis of performance are proposed.
FIGURES IN THIS ARTICLE
<>
Copyright © 2005 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

1
Campi, M. C., Lecchini, A., and Savaresi, S. M., 2003. “An Application of the Virtual Reference Feedback Tuning (VRFT) Method to a Benchmark Active Suspension System,” Eur. J. Control, 9 , pp. 66–76.
2
Fialho, I., and Balas, G. J., 2002, “Road Adaptive Active Suspension Design Using Linear Parameter-Varying Gain-Scheduling,” IEEE Trans. Control Syst. Technol.  [CrossRef], 10 , pp. 43–54.
3
Foo, E., and Goodall, R. M., 2000, “Active Suspension Control of Flexible-Bodied Railway Vehicles Using Electro-Hydraulic and Electro-Magnetic Actuators,” Control Eng. Pract.  [CrossRef], 8 , pp. 507–518.
4
Fu-Cheng, W., and Smith, M. C., 2002, “Controller Parameterization For Disturbance Response Decoupling: Application to Vehicle Active Suspension Control,” IEEE Trans. Control Syst. Technol., 10 , pp. 393–407.
5
Fujimori, K., Hayakawa, K., Kimura, H., Matsumoto, K., Suzuki, Y., and Yamashita, M., 1999, “Robust H∞ Output Feedback Control of Decoupled Automobile Active Suspension Systems,” IEEE Trans. Autom. Control, 44 , pp. 392–396.
6
Hrovat, D.1997. “Survey of Advanced Suspension Developments and Related Optimal Control Applications.” Automatica  [CrossRef], 33 , pp. 1781–1817.
7
Kiencke, U., and Nielsen, L., 2000, "Automotive Control Systems for Engine, Driveline, and Vehicle", Springer Verlag, Berlin.
8
Sammier, D., Sename, O., and Dugard, L. (2001). “Comparison of Skyhook and H∞ Control Applied on a Quarter-Car Suspension Model. 3rd IFAC Workshop on Advances in Automotive Control,” pp. 107-112.
9
Sammier, D., Sename, O., and Dugard, L. (2003). “Skyhook and H∞ Control of Semiactive Suspensions: Some Practical Aspects,” Veh. Syst. Dyn., 39 , pp. 279–308.
10
Silani, E., Fischer, D., Savaresi, S. M., Kaus, E., and Isermann, R. (2004). “Fault-Tolerant Filtering in Active Vehicle Suspensions.” FISITA World Automotive Congress , Barcelona, Spain.
11
Silani, E., Savaresi, S. M., Bittanti, S., Visconti, A., and Farachi, F., 2002. “The Concept of Performance-Oriented Yaw-Control Systems: Vehicle Model and Analysis.” 2002 SAE Automotive Dynamics & Stability Conference , Detroit, MI, pp. 235–245. (SAE paper n. 2002-01-1585).
12
Silani, E., Savaresi, S. M., Bittanti, S., Visconti, A., and Farachi, F., 2002, “A Vehicle Model for the DPerformance-Oriented Yaw-Control Systems,” 15th IFAC World Congress , Barcelona, Spain, Paper No. 3028.
13
Valtolina, E., Savaresi, S. M., Bittanti, S., Visconti, A., and Longhi, A. (2001). “A Co-Ordinate Approach for the Control of Road Vehicles.” 6th European Control Conference , Porto, Portugal, pp. 629–634.
14
Williams, R. A., 1997, “Automotive Active Suspensions Part 1: Basic principles,” IMechE, 211 , pp. 415–426.
15
Williams, R. A., 1997, “Automotive Active Suspensions Part 2: Practical Considerations,” IMechE, 211 , Part D, pp. 427–444.
16
Bosch, 2000, "Automotive Handbook", 5th ed.BOSCH Gmbh.
17
Caporietto, R., Diamante, O., Fargione, G., Risitano, A., and Tringali, D., 2003, “A Soft Computing Approach to Fuzzy Sky–Hook Control of Semiactive Suspension,” IEEE Trans. Control Syst. Technol., 11 , pp. 786–798.
18
Choi, S. B., Choi, J. H., Lee, Y. S., and Han, M. S., 2003, “Vibration Control of an ER Seat Suspension for a Commercial Vehicle,” ASME J. Dyn. Syst., Meas., Control  [CrossRef], 125 , pp. 60–68.
19
Choi, S. B., Park, D. W., and Suh, M. S., 2002, “Fuzzy Sky-Ground Hook Control of a Tracked Vehicle Featuring Semi-Active Electrorheological Suspension Units,” ASME J. Dyn. Syst., Meas., Control  [CrossRef], 124 , pp. 150–157.
20
Giuia, A., Seatzu, C., and Usai, G., 1999, “Semiactive Suspension Design with an Optimal Gain Switching Target,” Veh. Syst. Dyn., 31 , pp. 213–232.
21
Hong, K. S., Sohn, H. C., and Hedrick, J. K.2003. “Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning.” ASME J. Dyn. Syst., Meas., Control  [CrossRef], 124 , pp. 158–167.
22
Kitching, K. J., Cole, D. J., and Cebon, D.2000. “Performance of a Semi-Active Damper for Heavy Vehicles.” ASME J. Dyn. Syst., Meas., Control  [CrossRef], 122 , pp. 498–506.
23
Nakai, H., Oosaku, S., and Motozono, Y.2000. “Application of Practical Observer to Semi-Active Suspensions.” ASME J. Dyn. Syst., Meas., Control  [CrossRef], 122 , pp. 284–289.
24
Yoshida, K., and Okamoto, B., 1999, “Bilinear Disturbance-Accommodating Optimal Control of Semiactive Suspension for Automobiles,” IEEE International Conference on Control Applications , pp. 1496–1501.
25
Nijmeijer, H., and Savaresi, S. M. (1998). “On Approximate Model-Reference Control of SISO Discrete-Time Nonlinear Systems.” Automatica  [CrossRef], 34 , pp. 1261–1266.
26
Tseng, H. E., and Hedrick, J. K., 1994, “Semi-Active Control Laws - Optimal and Sub-Optimal,” Veh. Syst. Dyn., 23 , pp. 545–569.
27
Hrovat, D., Margolis, D. L., and Hubbard, M.1988. “An Approach Toward the Optimal Semi-Active Suspension.” ASME J. Dyn. Syst., Meas., Control, 110 , pp. 288–296.
28
Gillespie, T. D., 1992, “Fundamentals of Vehicle Dynamics.” Society of Automotive Engineers Inc.
29
Fischer, D., and Isermann, R., 2003, “Mechatronic Semiactive and Active Vehicle Suspensions,” Control Eng. Pract., (to published).
30
Spencer, B. F., Dyke, S. J., Sain, M. K., and Carlson, J. D. (2003). “Phenomenological Model of a Magnetorheological Damper.” ASCE J. Eng. Mech.  [CrossRef], 123 , pp. 230–238.
31
Bertsekas, D. P., 2000, "Dynamic Programming and Optimal Control", 2nd ed., Athena Scientific.
32
Savkin, A. V., and Evans, R. J., 2002, "Hybrid Dynamical Systems", Birkhauser, (to be published).
33
Savaresi, S. M., Silani, E., Bittanti, S., and Porciani, N.2003. “On Performance Evaluation Methods and Control Strategies for Semi-Active Suspension Systems.” 42nd Control and Decision Conference , Maui, Hawaii, USA, pp. 2264–2269.
34
Levine, W. S., 1996, "The Control Handbook", IEEE, New York.
35
Dunstan, W., Bitmead, R. R., and Savaresi, S. M., 2001, “Fitting Nonlinear Low-Order Models for Combustion Instability Control,” Control Eng. Pract.  [CrossRef], 9 , pp. 1301–1317.
36
Gelb, A., and Van der Velde, W. E., 1968, "Multiple-Input Describing Functions and Nonlinear System Design", McGraw–Hill, New York.
37
Savaresi, S. M., Bitmead, R., and Dunstan, W.2001. “Nonlinear System Identification Using Closed-Loop Data With No External Excitation: The Case of a Lean Combustion Process.” Int. J. Control, 74 , pp. 1796–1806.
38
Bittanti, S., and Picci, G., eds., 1996, "Identification, Adaptation, Learning - The Science of Learning Models from Data. Computer and Systems Sciences Series", Springer-Verlag, Berlin.
39
Bittanti, S., and Savaresi, S. M., 2000, “On the Parametrization and Design of an Extended Kalman Filter Frequency Tracker,” IEEE Trans. Autom. Control  [CrossRef], 45 , pp. 1718–1724.
40
Guardabassi, G. O., and Savaresi, S. M. (2001). “Approximate Linearization via Feedback - An Overview,” Automatica, 27 , pp. 1–15.
41
Guardabassi, G. O., and Savaresi, S. M.1997. “Approximate Feedback Linearization of Discrete-Time Non-Linear Systems Using Virtual Input Direct Design,” Syst. Control Lett.  [CrossRef], 32 , pp. 63–74.
42
Guzzella, L. and Isidori, A.1993. “On Approximate Linearization of Nonlinear Control Systems.” Int. J. Robust Nonlinear Control, 3 , pp. 261–276.
43
Pintelon, R., and Schoukens, J.2001, "System Identification, a Frequency Domain Approach", IEEE, New York.
44
Savaresi, S. M., and Guardabassi, G. O.1998. “Approximate I/O Feedback Linearization of Discrete-Time Non-Linear Systems Via Virtual Input Direct Design.” Automatica  [CrossRef], 34 , pp. 715–722.
45
Savaresi, S. M., Taroni, F., Previdi, F., and Bittanti, S. (2004). “Control System Design on a Power-Split CVT for High-Power Agricultural Tractors.” IEEE/ASME Trans. Mechatron., (to be published).
46
Schoukens, J., Pintelon, R., Rolain, Y., and Dobrowiecki, T., 2001. “Frequency Response Function Measurements in the Presence of Nonlinear Distortions.” Automatica  [CrossRef], 37 , pp. 939–946.
47
Stack, A. J. and Doyle, F. J. (1995). “A Measure for Control Relevant Nonlinearity.” American Control Conference , Seattle, pp. 2200-2204.
48
Isermann, R., 2003, "Mechatronic Systems: Fundamentals"Springer Verlag, UK.
49
Kawabe, T., Isobe, O., Watanabe, Y., Hanba, S., and Miyasato, Y.1998, “New Semiactive Suspension Controller Design Using Quasi-Linearization and Frequency Shaping.” Control Eng. Pract.  [CrossRef], 6 , n. 10, p. 1183–1191.
50
Valasek, M., Kortum, W., Sika, Z., Magdolen, L., and Vaculin, O.1998, “Development of Semiactive Road-Friendly Truck Suspensions,” Control Eng. Pract., 6 , pp. 735–744.

Figures

Grahic Jump Location
+Estimated frequency responses from road-disturbance to body acceleration
View Large  |  Save Figure  |  Download Slide (.ppt)
Estimated frequency responses from road-disturbance to body acceleration
Figure 4

Estimated frequency responses from road-disturbance to body acceleration

Grahic Jump Location
+Nonlinearity evaluation (up: ADD; down-left: two-state SH; down-right: linear SH)
View Large  |  Save Figure  |  Download Slide (.ppt)
Nonlinearity evaluation (up: ADD; down-left: two-state SH; down-right: linear SH)
Figure 5

Nonlinearity evaluation (up: ADD; down-left: two-state SH; down-right: linear SH)

Grahic Jump Location
+Sensitivity of the ADD algorithm with respect to cmax and β
View Large  |  Save Figure  |  Download Slide (.ppt)
Sensitivity of the ADD algorithm with respect to cmax and β
Figure 6

Sensitivity of the ADD algorithm with respect to cmax and β

Grahic Jump Location
+Time-domain behavior of the body acceleration
View Large  |  Save Figure  |  Download Slide (.ppt)
Time-domain behavior of the body acceleration
Figure 7

Time-domain behavior of the body acceleration

Grahic Jump Location
+Average acceleration attenuation Γj, as a function of the sampling time ΔT
View Large  |  Save Figure  |  Download Slide (.ppt)
Average acceleration attenuation Γj, as a function of the sampling time ΔT
Figure 8

Average acceleration attenuation Γj, as a function of the sampling time ΔT

Grahic Jump Location
+ADD vs SH algorithms
View Large  |  Save Figure  |  Download Slide (.ppt)
ADD vs SH algorithms
Figure 9

ADD vs SH algorithms

Grahic Jump Location
+Quarter-car model
View Large  |  Save Figure  |  Download Slide (.ppt)
Quarter-car model
Figure 1

Quarter-car model

Grahic Jump Location
+Ideal Sky–Hook damping
View Large  |  Save Figure  |  Download Slide (.ppt)
Ideal Sky–Hook damping
Figure 2

Ideal Sky–Hook damping

Grahic Jump Location
+Example of measured body acceleration and road profile (the shadowed areas indicate zero-crossings)
View Large  |  Save Figure  |  Download Slide (.ppt)
Example of measured body acceleration and road profile (the shadowed areas indicate zero-crossings)
Figure 3

Example of measured body acceleration and road profile (the shadowed areas indicate zero-crossings)

Grahic Jump Location
+Estimated frequency responses from road-disturbance to contact-force variations
View Large  |  Save Figure  |  Download Slide (.ppt)
Estimated frequency responses from road-disturbance to contact-force variations
Figure 10

Estimated frequency responses from road-disturbance to contact-force variations

Grahic Jump Location
+Time-domain behavior of the contact force variations (nominal force: 4410 N), in closed-loop configuration
View Large  |  Save Figure  |  Download Slide (.ppt)
Time-domain behavior of the contact force variations (nominal force: 4410 N), in closed-loop configuration
Figure 11

Time-domain behavior of the contact force variations (nominal force: 4410 N), in closed-loop configuration

Grahic Jump Location
+Estimated frequency responses from road-disturbance to body acceleration, using a detailed damper model
View Large  |  Save Figure  |  Download Slide (.ppt)
Estimated frequency responses from road-disturbance to body acceleration, using a detailed damper model
Figure 12

Estimated frequency responses from road-disturbance to body acceleration, using a detailed damper model

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Smart Semi-Active Control of Floor-Isolated Structures
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17
Survey of Access Control on Service Computing Based on Policy
International Conference on Electronics, Information and Communication Engineering (EICE 2012)
A New Speed Sign Recognition Algorithm Based on Statistical Characteristics
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
On the Exact Analysis of Non-Coherent Fault Trees: The ASTRA Package (PSAM-0285)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Fitting a Function and Its Derivative
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
This site uses cookies. By continuing to use our website, you are agreeing to our privacy policy. | Accept
Sign In