Control of active suspension system in the presence of nonlinear spring and damper

Abstract

Two methods which are computationally simple and easy to apply are developed by using state dependent Riccati equation (SDRE) approach and approximating sequence of Riccati equation (ASRE) approach to control active suspension system in the presence of nonlinear spring and damper. Additionally, effectivenesses of the both control methods developed by utilizing two recently introduced SDRE and ASRE techniques are compared. First, methodologies of both approaches are presented. After that, nonlinear dynamics of the vehicle suspension system is described in terms of conveniently selected state variables for better control performance. Then, a cost function is written by using suspension and tire deflections, sprung mass velocity and acceleration, and unsprung mass velocity variables to improve ride quality, suspension deflection, and tire deflection. Additionally, a convenient representation of this cost function in terms of state variables is obtained to realize better control. A bump expressed as sinusoidal function and roughness of the road expressed as white noise are taken into consideration as the disturbances from the road. Finally, quarter vehicle suspension system equivalent model of Ford Fiesta Mk2 is used as an example and simulations obtained by using the developed control methods are checked against the performance requirements and corresponding passive suspension system.