Research Papers

Selection of Sensors for Hydro-Active Suspension System of Passenger Car With Input–Output Pairing Considerations

[+] Author and Article Information
Ehsan Sarshari

M.S. Student
Department of Mechanical Engineering,
K. N. Toosi University of Technology,
Tehran 19991–43344, Iran
e-mail: ehsan.sarshari@gmail.com

Ali Khaki Sedigh

Department of Electrical and Computer Engineering,
K. N. Toosi University of Technology,
Tehran 16315–1355, Iran
e-mail: sedigh@kntu.ac.ir

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 24, 2010; final manuscript received March 9, 2012; published online October 30, 2012. Assoc. Editor: Douglas Adams.

J. Dyn. Sys., Meas., Control 135(1), 011004 (Oct 30, 2012) (9 pages) Paper No: DS-10-1309; doi: 10.1115/1.4006625 History: Received October 24, 2010; Revised March 09, 2012

With respect to weight, energy consumption, and cost constraints, hydro-active suspension system is a suitable choice for improving vehicle ride comfort while keeping its handling. The aim of sensors selection is determining number, location, and type of sensors, which are the best for control purposes. Selection of sensors is related to the selection of measured variables (outputs). Outputs selection may limit performance and also affect reliability and complexity of control systems. In the meanwhile, hardware, implementation, maintenance, and repairing costs can be affected by this issue. In this study, systematic methods for selecting the viable outputs for hydro-active suspension system of a passenger car are implemented. Having joint robust stability and nominal performance of the closed loop is the main idea in this selection. In addition, it is very important to use these methods as a complementation for system physical insights, not supersedes. So, in the first place the system is described and the main ideas in ride comfort control are addressed. An 8 degrees of freedom model of vehicle with passive suspension system is derived and validated. Both linear and nonlinear models of the car which is equipped with hydro-active subsystem are derived. After selecting the outputs, for benefiting from minimum loop interactions, the control configuration is systematically determined. The main goal of selecting control configuration is assessing the possibility of achieving a decentralized control configuration. Finally, the system behavior is controlled by a decentralized proportional–integral–differential (PID) controller. The results indicate the efficiency of the controlled hydro-active suspension system in comparison with the passive system.

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Fig. 1

General control system setup

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Fig. 2

Schematic of hydro-active damper, showing the oil flow during the rebound stroke

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Fig. 3

Physical model of the vehicle with passive suspension

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Fig. 4

Responses of the derived model comparing with those given in Ref. [20]

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Fig. 5

Free body diagram of the vehicle with hydro-active suspension (nonlinear)

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Fig. 6

Schematic of the vehicle equipped with hydro-active suspension system, showing actuators and candidate sensors

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Fig. 7

Evaluation of four candidate sensor types based on the JRSNP criterion

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Fig. 8

Candidate output sets satisfying the JRSNP criterion

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Fig. 9

RGA numbers for four remaining candidate output sets

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Fig. 10

Hankel singular values of the two transfer functions described in Sec. 5.4

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Fig. 11

Interaction evaluation of the system by means of Gershgorin’s bands

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Fig. 12

Control system setup of the vehicle suspension

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Fig. 13

Bounce, roll, and pitch accelerations of driver’s seat

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Fig. 14

Tire dynamic deflection

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Fig. 15

Suspension displacement



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