Adaptive optimal control system design for semi-active suspension system by supposing variable parameters under exogenous road disturbance

关键词:  Quarter car suspension system · Semi-active suspension · Adaptive control · Optimal control · Linear–quadratic regulator · Exogenous disturbance

Key words:  Quarter car suspension system · Semi-active suspension · Adaptive control · Optimal control · Linear–quadratic regulator · Exogenous disturbance

摘要:

This article presents an adaptive optimal control method for a semi-active suspension system. The model of the suspension system is built, in which the components of uncertain parameters and exogenous disturbance are described. The adaptive optimal control law consists of the sum of the optimal control component and the adaptive control component. First, the optimal control law is designed for the model of the suspension system after ignoring the components of uncertain parameters and exogenous disturbance caused by the road surface. The optimal control law expresses the desired dynamic characteristics of the suspension system. Next, the adaptive component is designed with the purpose of compensating for the effects caused by uncertain parameters and exogenous disturbance caused by the road surface; the adaptive component has adaptive parameter rules to estimate uncertain parameters and exogenous disturbance. When exogenous disturbances are eliminated, the system responds with an optimal controller designed. By separating theoretically the dynamic of a semi-active suspension system, this solution allows the design of two separate controllers easily and has reduced the computational burden and the use of too many tools, thus allowing for more convenient hardware implementation. The simulation results also show the effectiveness of damping oscillations of the proposed solution in this article.

Abstract:

This article presents an adaptive optimal control method for a semi-active suspension system. The model of the suspension system is built, in which the components of uncertain parameters and exogenous disturbance are described. The adaptive optimal control law consists of the sum of the optimal control component and the adaptive control component. First, the optimal control law is designed for the model of the suspension system after ignoring the components of uncertain parameters and exogenous disturbance caused by the road surface. The optimal control law expresses the desired dynamic characteristics of the suspension system. Next, the adaptive component is designed with the purpose of compensating for the effects caused by uncertain parameters and exogenous disturbance caused by the road surface; the adaptive component has adaptive parameter rules to estimate uncertain parameters and exogenous disturbance. When exogenous disturbances are eliminated, the system responds with an optimal controller designed. By separating theoretically the dynamic of a semi-active suspension system, this solution allows the design of two separate controllers easily and has reduced the computational burden and the use of too many tools, thus allowing for more convenient hardware implementation. The simulation results also show the effectiveness of damping oscillations of the proposed solution in this article.