Model Predictive Control for active suspensions - controller design and experimental study

Srinivasan Gopalasamy; Carlos Osorio; Karl Hedrick; Rajesh Rajamani

doi:10.1115/IMECE1997-0462

Model Predictive Control for active suspensions - controller design and experimental study

Srinivasan Gopalasamy, Carlos Osorio, Karl Hedrick, Rajesh Rajamani

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

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)
Pages	725-733
Number of pages	9
Volume	61
ISBN (Electronic)	9780791818244
DOIs	https://doi.org/10.1115/IMECE1997-0462
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

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	1997-Q

Other

Other	Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
City	Dallas, TX, USA
Period	11/16/97 → 11/21/97

Bibliographical note

Funding 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.

Publisher Copyright:
© 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

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10.1115/IMECE1997-0462

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Gopalasamy, S., Osorio, C., Hedrick, K., & Rajamani, R. (1997). Model Predictive Control for active suspensions - controller design and experimental study. In W. S. Chang, A. Gopinath, S. S. Sadhal, E. H. Trinh, C. J. Kim, & A. et al (Eds.), ASME Dynamic Systems and Control Division (Vol. 61, pp. 725-733). (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 1997-Q). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE1997-0462

Model Predictive Control for active suspensions - controller design and experimental study. / Gopalasamy, Srinivasan; Osorio, Carlos; Hedrick, Karl et al.
ASME Dynamic Systems and Control Division. ed. / W.S. Chang; A. Gopinath; S.S. Sadhal; E.H. Trinh; C.J. Kim; al et al. Vol. 61 American Society of Mechanical Engineers (ASME), 1997. p. 725-733 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 1997-Q).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Gopalasamy, S, Osorio, C, Hedrick, K & Rajamani, R 1997, Model Predictive Control for active suspensions - controller design and experimental study. in WS Chang, A Gopinath, SS Sadhal, EH Trinh, CJ Kim & A et al (eds), ASME Dynamic Systems and Control Division. vol. 61, ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 1997-Q, American Society of Mechanical Engineers (ASME), pp. 725-733, Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition, Dallas, TX, USA, 11/16/97. https://doi.org/10.1115/IMECE1997-0462

Gopalasamy S, Osorio C, Hedrick K, Rajamani R. Model Predictive Control for active suspensions - controller design and experimental study. In Chang WS, Gopinath A, Sadhal SS, Trinh EH, Kim CJ, et al A, editors, ASME Dynamic Systems and Control Division. Vol. 61. American Society of Mechanical Engineers (ASME). 1997. p. 725-733. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)). doi: 10.1115/IMECE1997-0462

Gopalasamy, Srinivasan ; Osorio, Carlos ; Hedrick, Karl et al. / Model Predictive Control for active suspensions - controller design and experimental study. ASME Dynamic Systems and Control Division. editor / W.S. Chang ; A. Gopinath ; S.S. Sadhal ; E.H. Trinh ; C.J. Kim ; al et al. Vol. 61 American Society of Mechanical Engineers (ASME), 1997. pp. 725-733 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)).

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AB - 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.

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Model Predictive Control for active suspensions - controller design and experimental study

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