LQG/LTR ROBUST ACTIVE SUSPENSION CONTROL APPLIED ON A NONLINEAR HALF-VEHICLE MODEL
Murilo Fregonesi Falleiros1; Diego Colón1
1 Escola Politécnica da Universidade de São Paulo
Resumo
This paper presents a linear LQG/LTR robust controller design for a half-vehicle model active suspension system with nonlinear electromagnetic actuators. The control scheme aims ride comfort improvement whilst guaranteeing suspension travel and actuators force limits. The actuators forces are labeled as the control inputs of the system and the wheels position are the non-controllable inputs. System robustness is based on parametric uncertainties, which are the vehicle mass, varying with the number of passengers, and the spring stiffness coefficient. Disturbance bump signals are imposed to the wheels in order to evaluate final suspension system behavior and enhance control system design. A discussion about the LQG/LTR controller behavior when applied to a nonlinear plant is performed as well.
Palavras-chave: LQG/LTR; Robust control; Active suspension; Half-vehicle model