A MIMO LPV control of semi-active suspension

Manh Quan Nguyen (1) , Olivier Sename (1) , Luc Dugard (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

In this paper, we present a new Linear Parameter Varying LPV/H∞ motion adaptive suspension controller that takes into account the three main motions of the vehicle vertical dynamics: bounce, roll and pitch motions that affect the passengers’ comfort. The new approach aims, by using a detection of the vehicle motions, at designing a controller which is able to adapt the suspension forces in the four corners of the vehicle according to the dynamical motions, in order to mitigate the road-induced vibrations. The main idea of this strategy is to use three scheduling parameters, representative of the motion distribution in the car dynamics, to adapt and distribute efficiently the suspension actuators. The motion detection strategy is following two possible methods: a motion mode energy method (obtained from the literature) and a load transfer distribution one. A full 7 degree of freedom (DOF) vertical model is used to describe the body motion (chassis and wheels), and to synthesize the LPV controller. The controller solution is derived in the framework of the LPV/H∞ and based on the LMI solution for polytopic systems. Some simulation results will demonstrate the effectiveness of this approach.

Mots clés: motion detection; suspension control; Vehicle dynamics; LPV/H∞ control; motion mode energy; load transfer distribution

Domaines: Automatique / Robotique

Manh Quan Nguyen, Olivier Sename, Luc Dugard. A MIMO LPV control of semi-active suspension. VSDIA 2014 - 14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, Nov 2014, Budapest, Hungary. pp.415 - 425. ⟨hal-01226406⟩