Control and estimation techniques for suspension systems in cars
Chiara Martellosio
PHD Student
DEIB - Conference Room "E. Gatti" (Building 20)
May 17th, 2023
11.50 am
Contacts:
Simone Formentin
Research Line:
Control systems
PHD Student
DEIB - Conference Room "E. Gatti" (Building 20)
May 17th, 2023
11.50 am
Contacts:
Simone Formentin
Research Line:
Control systems
Sommario
On May 17th, 2023 at 11.50 am Chiara Martellosio, PHD Student in Information Technology, will give a seminar on "Control and estimation techniques for suspension systems in cars" in DEIB Conference Room.
The suspension system of a ground vehicle conditions not only the vehicle vertical motion but also its longitudinal and lateral behavior. It plays a fundamental role in the overall performance, with twofold aim: it influences both the passengers riding comfort and the vehicle stability. Indeed, the achievement of these two desirables but mutually exclusive features produce a well-known trade-off that has been the object of many studies in this research field. In commercial vehicles, semi-active suspensions are the preferred solution to mitigate this design problem. Indeed, the literature on semiactive suspensions is vast, mostly focused on the modelling and control of the system’s actuator; however, in the design phase a non-negligible role is played by the sensor setup. The aim of this research project is to develop software sensing modules and semi-active control algorithms for cars, considering different possible setups in terms of both sensors and actuators.
The idea is to propose a modular approach, so that in the final control architecture a change in the choice of sensors or suspension technology would not influence the implementation of the control algorithm. Within this framework, an insight on a reformulation of the state-of-the-art technique SkyHook-ADD, is proposed. SkyHook-ADD is proven to be optimal under the assumption of single-harmonics road disturbances, however it presents a deterioration of performance in case of more realistic road profiles. Additionally, it is characterized by a two-state switching of the control variable which has detrimental effects on the chassis vertical jerk. To address these issues, a continuously modulating SHADD implementation is proposed. Results on a realistic road profile shows a limitation of the body vertical acceleration of up to 10% with a reduction of 62% of body vertical jerk.
The suspension system of a ground vehicle conditions not only the vehicle vertical motion but also its longitudinal and lateral behavior. It plays a fundamental role in the overall performance, with twofold aim: it influences both the passengers riding comfort and the vehicle stability. Indeed, the achievement of these two desirables but mutually exclusive features produce a well-known trade-off that has been the object of many studies in this research field. In commercial vehicles, semi-active suspensions are the preferred solution to mitigate this design problem. Indeed, the literature on semiactive suspensions is vast, mostly focused on the modelling and control of the system’s actuator; however, in the design phase a non-negligible role is played by the sensor setup. The aim of this research project is to develop software sensing modules and semi-active control algorithms for cars, considering different possible setups in terms of both sensors and actuators.
The idea is to propose a modular approach, so that in the final control architecture a change in the choice of sensors or suspension technology would not influence the implementation of the control algorithm. Within this framework, an insight on a reformulation of the state-of-the-art technique SkyHook-ADD, is proposed. SkyHook-ADD is proven to be optimal under the assumption of single-harmonics road disturbances, however it presents a deterioration of performance in case of more realistic road profiles. Additionally, it is characterized by a two-state switching of the control variable which has detrimental effects on the chassis vertical jerk. To address these issues, a continuously modulating SHADD implementation is proposed. Results on a realistic road profile shows a limitation of the body vertical acceleration of up to 10% with a reduction of 62% of body vertical jerk.
