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Technical Briefs

Complementary Filter to Estimate Inertial Velocity

[+] Author and Article Information
Daniel E. Williams

 TRW Automotive, P.O. Box 60, Lafayette, IN 47902

J. Dyn. Sys., Meas., Control 131(5), 054502 (Aug 18, 2009) (6 pages) doi:10.1115/1.3155012 History: Received May 30, 2008; Revised March 09, 2009; Published August 18, 2009

Long appreciated advantageous stability and performance properties of “skyhook damping” are dependent on availability of an inertially referenced velocity signal. In this work a practical complementary filter using acceleration and position measurements is proposed to construct a high quality inertial velocity signal. The filter was used in a hydraulic suspension system, which isolates the cab of a semitractor from pitching motion of the frame. Low frequency pseudo-integration properties previously limited actual system performance on the vehicle. When the proposed complimentary filter was implemented, a nearly 10 dB improvement in resonant frequency attenuation was achieved while maintaining consistent stability margins.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

Simply suspended mass

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Figure 2

Open loop simple system frequency response of sprung mass velocity from colocated force input

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Figure 3

Open loop system frequency response with pseudo-integrator

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Figure 4

Open loop system frequency response with pseudo-integrator and actuator dynamics

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Figure 5

Semitractor cab with pitch degree of freedom

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Figure 9

High frequency performance of complementary filter in vehicle

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Figure 8

Low frequency performance of complementary filter in vehicle

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Figure 7

Simulated transmissibility of pseudo-integrator and complementary filter

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Figure 6

Block diagram of the closed loop pitch control system using the complementary filter with relative velocity

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