Design and analysis of active vehicle suspension using gramian matrix based LQG control

Abstract

In the present study, a quarter vehicle active suspension model with one degree of freedom designed considering only vertical forces were examined. LQG-based closed-loop suspension control was used to minimize the response of the system according to different road profiles. Sensor noises were added for the realistic simulations of the designed control system and a Kalman filter was used to filter these noises. The active suspension system was analyzed with the MATLAB simulation software package. The feedback signal and sensor location which used for the control system were determined using the system's Gramian matrix with the new approach. The LQG control system was compared to the conventional passive suspension system, according to the obtained results. In this study, three different road inputs were applied to active and passive suspension systems modeled according to several feedback signals. Although the LQG control was exposed to sensor noise, its damping ability against different road inputs was determined to be better than the passive suspension system.

Keywords

• Linear systems
• Optimal control theory
• Kalman filtering techniques
• Vehicle suspension
• Quarter Car model

Gramian matrix tabanlı LQG kontrolü kullanılarak aktif araç süspansiyonunun tasarımı ve analizi

Abstract

Bu çalışmada sadece düşey kuvvetler dikkate alınarak tasarlanan tek serbestlik dereceli çeyrek araç aktif süspansiyon modeli incelenmiştir. Sistemin farklı yol profillerine göre tepkisini en aza indirmek için LQG tabanlı kapalı döngü süspansiyon kontrolü kullanıldı. Tasarlanan kontrol sisteminin gerçekçi simülasyonları için sensör sesleri eklenmiş ve bu gürültüleri filtrelemek için Kalman filtresi kullanılmıştır. Aktif süspansiyon sistemi MATLAB simülasyon yazılım paketi ile analiz edilmiştir. Yeni yaklaşımla kontrol sistemi için kullanılan geri besleme sinyali ve sensör konumu sistemin Gramian matrisi kullanılarak belirlendi. Elde edilen sonuçlara göre LQG kontrol sistemi geleneksel pasif süspansiyon sistemiyle karşılaştırıldı. Bu çalışmada çeşitli geri bildirim sinyallerine göre modellenen aktif ve pasif süspansiyon sistemlerine üç farklı yol girdisi uygulanmıştır. LQG kontrolü sensör gürültüsüne maruz kalmasına rağmen farklı yol girdilerine karşı sönümleme yeteneğinin pasif süspansiyon sistemine göre daha iyi olduğu belirlendi.

Keywords

• Doğrusal sistemler
• Optimal kontrol teorisi
• Kalman filtreleme teknikleri
• Taşıt süspansiyonu
• Çeyrek Araba modeli

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