Robust Control for a Full-Car Prototype of Series Active Variable Geometry Suspension

Min Yu, Cheng Cheng, Simos A. Evangelou, Daniele Dini

Abstract: The Series Active Variable Geometry Suspension (SAVGS) which has been recently proposed shows promising potential in terms of suspension performance enhancement, limited power consumption and so on. In this paper, the control aspects of a full-car prototype with the front axle retrofitted by the SAVGS, which is developed to validate the practical feasibility of the novel mechatronic suspension, are addressed. Two 12 V dc batteries and one DC/AC inverter constitute an independent power source that supplies the overall embedded mechatronic system, with two AC rotary servo motors driving the single links (in the SAVGS) at two front corners, respectively. A robust control scheme, with an outer-loop H-infinity control and an inner-loop actuator velocity tracking control, is synthesized to enhance the vehicle ride comfort and road holding performance. Numerical simulations of the full-car prototype, with the typical road events of a 2 Hz harmonic road, and a speed hump tested, are performed. The results of numerical simulations indicate the potential suspension performance improvement contributed by the SAVGS and the power usage in the batteries, which will be compared in the future with the upcoming experimental testing results of the prototype on-road driving.