The work, made from the collaboration between the University of Pavia and the Technische Universität Ilmenau in Germany, presents an optimization based Sliding Mode controller designed to ensure that the actuator of an active suspension system provides the correct amount of force in order to guarantee ride comfort. First, the technical literature dedicated to suspension systems is presented. Then, the description of the mechanics of the active suspension system is provided and the mathematical state space form of the quarter-car active suspension model is introduced. A Sliding Mode Control controller is designed to properly manage the active force production. The parameters of the proposed controller are tuned, relying on an optimization procedure, to improve the quality of the ride in terms of ride comfort, road holding and suspension deflection. First, the performance of the controlled active suspension is assessed in simulation using the formulated quarter-car model, implemented in MATLAB/Simulink environment. Then, the proposed optimized Sliding Mode controller is tested on an experimentally validated full-car model of a Range Rover Evoque in a Hardware-in-the-Loop (HiL) test rig available at the Automotive Engineering Department of TU Ilmenau, also comparing its performance with those obtained by using a standard PID controller. Simulation and HiL test results confirm that the proposed SMC controller provides better ride quality than the standard PID controller, which corroborates its suitableness for practical implementation.
Controllo Sliding Mode ottimizzato per sospensioni attive: sviluppo e validazione Hardware-in-the-Loop. Questo studio, nato dalla collaborazione tra l’Università di Pavia e la Technische Universität Ilmenau in Germania, presenta un controllore Sliding Mode ottimizzato, sviluppato per assicurare che l’attuatore del sistema di sospensioni attive fornisca la corretta quantità di forza per garantire comfort alla guida. In primis, viene presentata la letteratura tecnica dedicata alle sospensioni. In seguito, viene spiegata la meccanica dei sistemi di sospensioni attive e viene introdotta la forma matematica del modello quarter-car della sospensione attiva. Il controllore Sliding Mode viene sviluppato per controllare in maniera appropriata la produzione di forza attiva. I parametri del controllore proposto sono calibrati sulla base di una procedura di ottimizzazione per migliorare la qualità della guida in termini di comfort, tenuta di strada e deflessione della sospensione. La performance del controllore viene valutata inizialmente attraverso simulazioni effettuate sul modello quarter-car implementato in software MATLAB/Simulink. Successivamente, il controllore Sliding Mode ottimizzato è testato su un modello full-car convalidato sperimentalmente di un Range Rover Evoque in circuito di prova Hardware-In-The-Loop disponibile presso il Dipartimento di Automotive Engineering dell’Università Tecnica di Ilmenau, confrontando i risultati con quelli ottenuti utilizzando un controllore PID standard. Le simulazioni e i risultati dei test in HiL confermano che il controllore SMC presentato fornisce una migliore qualità della guida rispetto al controllore PID, che convalida la sua idoneità all'implementazione pratica.
Optimization Based Sliding Mode Control in Active Suspensions: Design and Hardware-in-the-Loop Assessment
QUAINI, DEBORA
2018/2019
Abstract
The work, made from the collaboration between the University of Pavia and the Technische Universität Ilmenau in Germany, presents an optimization based Sliding Mode controller designed to ensure that the actuator of an active suspension system provides the correct amount of force in order to guarantee ride comfort. First, the technical literature dedicated to suspension systems is presented. Then, the description of the mechanics of the active suspension system is provided and the mathematical state space form of the quarter-car active suspension model is introduced. A Sliding Mode Control controller is designed to properly manage the active force production. The parameters of the proposed controller are tuned, relying on an optimization procedure, to improve the quality of the ride in terms of ride comfort, road holding and suspension deflection. First, the performance of the controlled active suspension is assessed in simulation using the formulated quarter-car model, implemented in MATLAB/Simulink environment. Then, the proposed optimized Sliding Mode controller is tested on an experimentally validated full-car model of a Range Rover Evoque in a Hardware-in-the-Loop (HiL) test rig available at the Automotive Engineering Department of TU Ilmenau, also comparing its performance with those obtained by using a standard PID controller. Simulation and HiL test results confirm that the proposed SMC controller provides better ride quality than the standard PID controller, which corroborates its suitableness for practical implementation.È consentito all'utente scaricare e condividere i documenti disponibili a testo pieno in UNITESI UNIPV nel rispetto della licenza Creative Commons del tipo CC BY NC ND.
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https://hdl.handle.net/20.500.14239/17872