This paper discusses the design of a Model Predictive Controller for a vehicle active suspension system and presents the experimental results obtained in the evaluation of the controller performance. The Model Predictive Control methodology described here, utilizes the road profile ahead of the vehicle as preview information and also takes into explicit consideration the physical constraints on the suspension travel. The advantages in the use of preview information in active suspension control have been studied by several researchers. The explicit consideration of the physical limits on the suspension travel becomes an important factor under rough road conditions such as the ones encountered by off-road vehicles. A computationally efficient version of the predictive controller was developed so as to be implementable on-line. The experimental evaluation of the controller was performed on the UC Berkeley Active Suspension Test Rig.
|Original language||English (US)|
|Title of host publication||ASME Dynamic Systems and Control Division|
|Editors||W.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al|
|Publisher||American Society of Mechanical Engineers (ASME)|
|Number of pages||9|
|State||Published - 1997|
|Event||Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA|
Duration: Nov 16 1997 → Nov 21 1997
|Name||ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)|
|Other||Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition|
|City||Dallas, TX, USA|
|Period||11/16/97 → 11/21/97|
Bibliographical noteFunding Information:
The research described in this paper was supported by the DOD's SBIR program. The authors would like to acknowl edge the contributions of Dr. Raman Mehra and Jayesh .Amin of Scientific Systems, Inc. We would also like to thank Mikelle Eiler and Frank Hoogterp of the Army Tank Com mand (T.ACOM) in Warren, MI.
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.