Robust H∞ Control Design for Improving Handling and Ride Comfort in Semi-Active Suspension Systems
DOI:
https://doi.org/10.15282/ijame.21.3.2024.7.0890Keywords:
Handling, Ride comfort, Robust H∞ control, Semi-active suspension, μ-synthesisAbstract
This study investigates the application of robust H∞ control design for semiactive suspension systems. The goal is to achieve a balance between ride comfort and handling. A quarter-car model is used to simulate the system's dynamics. The findings demonstrate that the robust H∞ control approach with μ-synthesis offers significant advantages compared to traditional passive control and nominal H∞ control methods. When compared to the passive system, the robust H∞ controller with μ-synthesis results in a 50% reduction in body displacement (from 0.04 meters to 0.02 meters) during a simulated road bump. It also achieves a 25% reduction in peak body acceleration (from 4 m/s² to 3 m/s²) and a 37.5% reduction in suspension deflection (from 0.04 meters to 0.025 meters). These improvements translate to a smoother ride with less body movement and improved handling due to better tire contact with the road. The μ-synthesis method specifically addresses uncertainties like passenger weight and road conditions. This leads to more consistent performance in real-world driving scenarios. Overall, this study highlights the effectiveness of robust H∞ control design in achieving a well-balanced suspension system that enhances both ride comfort and handling.
References
S.M.H. Rizvi, M. Abid, A.Q. Khan, S.G. Satti, and J. Latif, “H∞ control of 8 degrees of freedom vehicle active suspension system,” Journal of King Saud University - Engineering Sciences, vol. 30, no. 2, pp. 161–169, 2018.
W. Li, Z. Xie, P.K. Wong, Y. Cao, X. Hua, and J. Zhao, “Robust nonfragile H∞ optimum control for active suspension systems with time-varying actuator delay,” Journal of Vibration and Control, vol. 25, no. 18, pp. 2435–2452, 2019.
L.C. Félix-Herrán, D. Mehdi, R.A. Ramírez-Mendoza, J.D.J. Rodríguez-Ortiz, and R. Soto, “H2 control of a one-quarter semi-active ground vehicle suspension,” Journal of Applied Research and Technology, vol. 14, no. 3, pp. 173–183, 2016.
S. Rajala, T. Roinila, M. Vilkko, O. Ajala, and J. Rauh, “H∞ Control design of a novel active quarter-car suspension system,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 14519–14524, 2017.
A.M.A. Soliman and M.M.S. Kaldas, “Semi-active suspension systems from research to mass-market – A review,” Journal of Low Frequency Noise, Vibration and Active Control, vol. 40, no. 2, pp. 1005–1023, 2021.
A. Shehata Gad, “Preview model predictive control controller for magnetorheological damper of semi-active suspension to improve both ride and handling,” SAE International Journal of Vehicle Dynamics, Stability, and NVH, vol. 4, no. 3, pp. 305–326, 2020.
K. Karim Afshar, R. Korzeniowski, and J. Konieczny, “Evaluation of ride performance of active inerter-based vehicle suspension system with parameter uncertainties and input constraint via robust H∞ control,” Energies, vol. 16, no. 10, 2023.
L. Zheng, Y. Li, and B. Chen, “A new semi-active suspension control strategy through mixed H2/H∞ robust technique,” Journal of Central South University of Technology, vol. 17, no. 2, pp. 332–339, 2010.
S.-H. X. Lu-Hang Zong Xing-Long Gong and C.-Y. Guo, “Semi-active H∞ control of high-speed railway vehicle suspension with magnetorheological dampers,” Vehicle System Dynamics, vol. 51, no. 5, pp. 600–626, 2013.
C.-Y. Hsiao and Y.-H. Wang, “Evaluation of ride comfort for active suspension system based on self-tuning fuzzy sliding mode control,” International Journal of Control, Automation, and Systems, vol. 20, no. 4, pp. 1131–1141, 2022.
G.I.Y. Mustafa, H. Wang, and Y. Tian, “Optimized fast terminal sliding mode control for a half-car active suspension systems,” International Journal of Automotive Technology, vol. 21, no. 4, pp. 805–812, 2020.
J. Kumar and G. Bhushan, “Analysis and improvement of driver’s ride comfort by implementing optimized hybrid semi-active vibration damper with fuzzy-PID controller,” Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, vol. 47, no. 4, pp. 2243–2255, 2023.
M. Kaleemullah, W.F. Faris, F. Hasbullah, and N.M. Ghazaly, “Control of active suspension system using robust H∞ control with genetic algorithm,” International Journal of Advanced Science and Technology, vol. 28, no. 16, pp. 763–782, 2019.
M. Kaleemullah, W.F. Faris, and N.M. Ghazaly, “Analysis of active suspension control policies for vehicle using robust controllers,” International Journal of Advanced Science and Technology, vol. 28, no. 16, pp. 836–855, 2019.
A.O. Bashir, X. Rui, and J. Zhang, “Ride comfort improvement of a semi-active vehicle suspension based on hybrid fuzzy and fuzzy-PID controller,” Studies in Informatics and Control, vol. 28, no. 4, pp. 421–430, 2019.
H. Chen, Z.-Y. Liu, and P.-Y. Sun, “Application of constrained H∞ control to active suspension systems on half-car models,” Journal of Dynamic Systems, Measurement, and Control, vol. 127, no. 3, pp. 345–354, 2004.
J. Yao, M. Wang, and Y. Bai, “Automobile active tilt based on active suspension with H∞ robust control,” The Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 235, no. 5, pp. 1320–1329, 2020.
M.S. Fallah, R. Bhat, and W.-F. Xie, “Modified sky-hook control of a semi-active suspension system using H∞ robust control theory,” in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 6, pp. 1039–1045, 2009.
S. Bei, C. Huang, B. Li, and Z. Zhang, “Hybrid sensor network control of vehicle ride comfort, handling, and safety with semi-active charging suspension,” International Journal of Distributed Sensor Networks, vol. 16, no. 2, p. 1550147720904586, 2020.
J. Yao, M. Wang, and Y. Bai, “Automobile active tilt based on active suspension with H∞ robust control,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 235, no. 5, pp. 1320–1329, 2021.
J. Wu, H. Zhou, Z. Liu, and M. Gu, “Ride comfort optimization via speed planning and preview semi-active suspension control for autonomous vehicles on uneven roads,” IEEE Transactions on Vehicular Technology, vol. 69, no. 8, pp. 8343–8355, 2020.
J.S. Esmaeili, A. Akbari, and H.R. Karimi, “Load-dependent LPV/H 2 output-feedback control of semi-active suspension systems equipped with MR damper,” International Journal of Vehicle Design, vol. 68, pp. 119–140, 2015.
X. Jin, J. Wang, S. Sun, S. Li, J. Yang, and Z. Yan, “Design of constrained robust controller for active suspension of in-wheel-drive electric vehicles,” Mathematics, vol. 9, no. 3, p. 249, 2021.
J. Marzbanrad, P. Poozesh, and M. Damroodi, “Improving vehicle ride comfort using an active and semi-active controller in a half-car model,” Journal of Vibration and Control, vol. 19, no. 9, pp. 1357–1377, 2013.
S. Munawwarah and F. Yakub, “Control analysis of vehicle ride comfort through integrated control devices on the quarter and half car active suspension systems,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 235, no. 5, pp. 1256–1268, 2021.
D. Lee, S. Jin, and C. Lee, “Deep reinforcement learning of semi-active suspension controller for vehicle ride comfort,” IEEE Transactions on Vehicular Technology, vol. 72, no. 1, pp. 327–339, 2023.
K.K. Afshar, R. Korzeniowski, and J. Konieczny, “Constrained dynamic output-feedback robust H∞ control of active inerter-based half-car suspension system with parameter uncertainties,” IEEE Access, vol. 11, pp. 46051–46072, 2023.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2024 The Author(s)
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.