Implementation of an Active Suspension, Książki, Automatyka, ebook, pdf

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//-->The University of California at BerkeleyApril 2001Implementation of an Active Suspension, PreviewController for Improved Ride ComfortbyMark D. DonahueB.S. Boston University, 1998Research Advisor:Second Reader:Professor J. Karl Hedrick, Ph.D.Mechanical EngineeringProfessor Kameshwar Poolla, Ph.D.Mechanical EngineeringSubmitted to the Department of Mechanical Engineering, University of California atBerkeley, in partial satisfaction of the requirements for the degree ofMaster of Science, Plan IIImplementation of an Active Suspension, Preview Controller forImproved Ride ComfortCopyright 2001byMark D. DonahueAbstractImplementation of an Active Suspension, Preview Controller forImproved Ride ComfortbyMark D. DonahueMaster of Science in Mechanical EngineeringUniversity of California at BerkeleyProfessor J. Karl Hedrick, ChairA fully active suspension and preview control is utilized to improve ride comfort, whichallows increased traveling speed over rough terrain. Specifically, the methodology ofmodel predictive control has been applied to address suspension saturation constraints,suspension rate limits, and other system non-linearities. For comparison, the followingnon-preview controllers were implemented: a sky hook damping controller, a linearquadratic regulator, and a mock passive suspension controller. Particular attention isgiven to the hydraulic actuator force controller that tracks commands generated byhigher-level controllers. The complete system has been successfully implemented on amilitary HMMWV using a commercially available microprocessor platform.Experimental results show that the power absorbed by the driver is decreased by morethan half, significantly improving ride comfort.iThis work is dedicated to all those who have inspiredme throughout my life, with special thanks to my family & friendsiiTable of ContentsAbstractList of FiguresList of TablesPrefaceAcknowledgmentsivviiviiixChapter 1 -Introduction11.1Controller Structure.................................................................................... 11.1.1Low Level Control ................................................................................. 11.1.2Control without Preview ........................................................................ 31.1.3Preview Control...................................................................................... 41.2HMMWV Equipment................................................................................. 5Chapter 2 -FTC Design62.1Overview of Controller .............................................................................. 62.2Plant Models............................................................................................... 72.2.1Quarter car.............................................................................................. 72.2.2Hydraulic actuator .................................................................................. 72.2.3Complete system .................................................................................... 92.3Control Algorithms .................................................................................... 102.3.1Dynamic Surface Control ....................................................................... 102.3.2Output Redefinition................................................................................ 122.3.3Parameter Adaptation............................................................................. 132.4Simulation .................................................................................................. 142.4.1Setup....................................................................................................... 142.4.2Model Error Approximation................................................................... 152.4.3Simulation Results ................................................................................. 162.5Implementation........................................................................................... 162.5.1Noise Filters ........................................................................................... 172.5.2Model Error Filters................................................................................. 172.5.3High-Level Control Filters ..................................................................... 17Chapter 3 -Subsystems193.1Safety Systems............................................................................................ 193.2Preview Information................................................................................... 193.2.1Preview Generation ................................................................................ 203.2.2Preview Sensor Correction..................................................................... 203.2.3Preview Buffer ....................................................................................... 21iii [ Pobierz całość w formacie PDF ]

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