Impedance control of an active suspension system

• Published in: Mechatronics (Oxford) Vol. 19; no. 1; pp. 134 - 140
• Main Authors: Fateh, Mohammad Mehdi, Alavi, Seyed Sina
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 01.02.2009; Elsevier
• Subjects: Active suspension system; Applied sciences; Exact sciences and technology; Feedback linearization; Impedance control; Machine components; Mechanical engineering. Machine design; Springs and dampers; Active suspension system; Impedance control; Feedback linearization; Motor car; Road vehicle; Pavement; Highway; Feedback regulation; Vehicle dynamics; Modeling; Fuzzy control; Maneuverability; Vehicle suspension; Control loop; Active system; Comfort; Hydraulic motor; Force control; Linearization; Novelty
• ISSN: 0957-4158; 1873-4006
• DOI: 10.1016/j.mechatronics.2008.05.005

A novel control system is developed to control dynamic behavior of a vehicle subject to road disturbances. The novelty of this paper is to apply the impedance control on an active vehicle suspension system operated by a hydraulic actuator. A relation between the passenger comfort and vehicle handling is derived using the impedance parameters. The impedance control law is simple, free of model and can be applied for a broad range of road conditions including a flat road. Impedance control is achieved through two interior loops which are force control of the actuator by feedback linearization and fuzzy control loop to track a desired body displacement provided by the impedance rule. The system stability is analyzed. A quarter-car model of suspension system and a nonlinear model of hydraulic actuator are used to simulate the control system.