Control Algorithms for Active Cab Suspensions on Agricultural Tractors

Abstract

SUMMARY This paper describes active agricultural tractor cab suspensions based on optimal control theory. Control algorithms based on time invariant state feedback and on adaptive control are developed and studied. The influence of different observers and measurement noise levels on the vibration damping capacity are studied as well as the power consumption for the suspensions. The principle for the adaptive algorithm is based on the parameters in the penalty matrices being varied so that the resulting controller always strives to make optimum use of available travel space. The feedback and observer gains are also changed depending on the characteristics of the vehicle's frame movements. The results show that it is possible to design an effective active suspension, but that the choice of feedback gains must be dependent on the surface characteristics to reach satisfactory vibration damping performance.