Abstract
By applying disturbance feedforward control in active suspension systems, knowledge of the road profile can be used to increase ride comfort and safety. As the assumed road profile will never match the real one perfectly, we examine the performance of different disturbance compensators under various deteriorations of the assumed road profile using both synthetic and measured profiles and two quarter vehicle models of different complexity. While a generally valid statement on the maximum tolerable deterioration cannot be made, we identify particularly critical factors and derive recommendations for practical use.
Zusammenfassung
Durch den Einsatz von Störgrößenaufschaltungen in aktiven Fahrwerken können Kenntnisse über das Straßenprofil zur Verbesserung des Fahrkomforts und der Fahrsicherheit genutzt werden. Da das angenommene Straßenprofil niemals perfekt mit dem tatsächlichen Profil übereinstimmen wird, untersuchen wir die Wirksamkeit mehrerer Störgrößenaufschaltungen bei unterschiedlichen Verfälschungen des angenommenen Straßenprofils. Hierzu verwenden wir sowohl synthetische als auch gemessene Straßenprofile und zwei Viertelfahrzeugmodelle unterschiedlicher Komplexität. Zwar lässt sich keine allgemeingültige Aussage über die noch tolerierbare Verfälschung treffen, jedoch identifizieren wir besonders kritische Faktoren und leiten daraus Empfehlungen für den praktischen Einsatz ab.
About the authors
Felix Anhalt received the Master’s degree in mechanical engineering from Technical University of Munich in 2016. Since 2017 he has been working as scientific staff at the Chair of Automatic Control at TU Munich. His current research interests are in cloud-supported preview control of active suspension systems.
Boris Lohmann received the Dipl.-Ing. degree in electrical engineering and the Ph. D. (Dr.-Ing.) degree in electrical engineering from the University of Karlsruhe, Karlsruhe, Germany, in 1987 and 1991, respectively. He is a Full Professor and the Head of the Chair of Automatic Control with the Department of Mechanical Engineering, Technical University of Munich, Germany. His research interests include linear and nonlinear control systems design, modeling and model reduction, autonomous driving as well as applications in mechatronics and automotive.
Acknowledgment
The authors would like to thank Klaus Löhe for the recording and sharing of the road profile data as well as Johannes Strohm for the provision of the FIR-filter-based disturbance compensator and helpful discussions on the topic.
Author contributions: Felix Anhalt designed the study, carried out the simulations and evaluated the results. Boris Lohmann initiated the research project including the topic of this paper and revised the text.
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