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Application of LQ-based semi-active suspension control in a vehicle

机译：基于LQ的半主动悬架控制在车辆中的应用

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摘要

A linear quadratic (LQ) based controller and observer concept for a semi-active full-car model is implemented and compared to a skyhook controller using a real vehicle in this paper. Especially an observer including a new modified road model is presented, which reliably filters low frequency disturbances induced by ascending or descending steep hills. Furthermore, methods for the parame-trization of the quadratic cost function are presented and it is shown in experiments for different vehicle masses that ride comfort and road holding can be significantly improved by using semi-active suspension control. In order to take nonlinear component characteristics or suspension friction into account a parametrized nonlinear full-car model is presented, which is used for the determination of the controller cost function weights. The performance evaluation is done using a 4-poster test rig as well as measurements conducted on a real road.
机译：本文针对半主动全车模型实现了基于线性二次（LQ）的控制器和观察者概念，并将其与使用真实车辆的天钩控制器进行了比较。特别是提出了一种包括新的改进道路模型的观察者，该模型可以可靠地过滤由陡坡上升或下降引起的低频干扰。此外，提出了用于二次成本函数参数化的方法，并且在针对不同车辆质量的实验中表明，通过使用半主动悬架控制可以显着改善乘坐舒适性和抓地力。为了考虑非线性部件特性或悬架摩擦，提出了一种参数化的非线性全车模型，该模型用于确定控制器成本函数权重。使用4杆测试台以及在真实道路上进行的测量来完成性能评估。

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