CAN-Based Vibration Control for Networked Vehicle Active Suspension with Both Network-Induced Delays and Packet-Dropouts

Shi-Yuan Han,Tong Liang,Yue-Hui Chen,Jin Zhou

doi:10.3390/electronics11050708

Abstract

Ride comfort and driving safety are highly vulnerable to the undesirable excessive vibrations caused by road surface irregularities and the imperfect in-vehicle network (IVN). The main contribution of this paper consists of proposing a near-optimal vibration control approach for networked vehicle active suspension under irregular road excitations in a discrete-time domain, in which the uncertain time delay and packet dropout in CAN are taken into consideration. More specially, by virtue of two buffers of the sensor-to-controller network channel and the controller-to-actuator network channel in CAN, by introducing a designed state-transformation-based method, the original vibration control problem under the constraints of the irregular road excitations and imperfect CAN is transformed into a two-point boundary value (TPBV) problem without advanced and delayed items. After that, the near-optimal vibration control approach is presented to isolate the vehicle body from the road excitations and compensate the time delay and packet dropout from CAN synchronously. The stability condition of the networked vehicle active suspension under the proposed vibration controller is obtained based on the Lyapunov function. In numerous scenarios with different road roughnesses and network-induced time delays and packet dropouts, the simulation results illustrate the effectiveness and superiority of the proposed near-optimal vibration controller.

Highlights

As a bridge between the automotive chassis and the irregular road surface, vehicle suspension is the core component in advanced driver assistance systems
Simulation Results and Discussion by employing a simple quarter-networked vehicle active suspension based on MATLAB/Simulink, the effectiveness of the proposed near-optimal vibration control approach based on state-transformation-based method will be verified based on simulation results
In order to discuss the performance in an imperfect in-vehicle network, the packet dropouts at the two network channels are simulated as two independent Bernoulli processes with probability distribution

Summary

Introduction

As a bridge between the automotive chassis and the irregular road surface, vehicle suspension is the core component in advanced driver assistance systems. Compared with passive and semi-active suspensions, vehicle active suspension with advanced vibration absorber technology can meet the increasing requirements for driving comfort and safety more effectively [1,2]. The embedded technology combined with a CAN–BUS in-vehicle network (IVN) system brings forward the concept of networked vehicle active suspension [3,4]. Many input and output signals should be transmitted via CAN–BUS IVN from the installed sensors to the control central to the actuator for supervising and controlling the vehicle suspension system. The modeling, analysis, and control of networked vehicle active suspension systems have received considerable attention in the last two decades [5,6,7,8]

Objectives

Results

Conclusion