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Control of an active suspension system in veDYNA and Simulink environment

Chatzitzanos Evaggelos

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Summary

One of the applications of automatic control's technology is the control of modern cars. It is a fact that the modern car can no longer be classified in the category of purely mechanical artifacts. The collaboration of classical and modern control theory with computers' technology emerged many new and improved systems in the field of car technology. This thesis implements a virtual control through the simulation of veDYNA (vehicle dynamics analysis) environment, and deals with the design and modelling of a control system which regulates suspension's behavior in the vehicle model of veDYNA. veDYNA environment is ideal for simulating the dynamic behavior of wheeled vehicles and is appropriate to develop vehicle control systems via Model-Based Design methodology. We use the control algorithm of linear quadratic regulator (LQR) which is modelled in Simulink. This algorithm is based on the mathematical model of a full car model with seven degrees of freedom (7-DOF). The optimization criteria of our algorithm are adapted to the basic performance criteria of a car suspension: the vehicle's stability criterion, the passenger's comfort criterion, and the criterion of minimizing the cost control. We propose an LQR controller that proves the noticeable improvement of vehicle stability and passenger comfort while having a particular cost control, through veDYNA simulation. The installation of LQR controller converts the conventional/passive suspension system of a vehicle, which is a system of limited capacity, to an active suspension system.

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