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- Title
Linear Quadratic Optimal Control with the Finite State for Suspension System.
- Authors
Fu, Qidi; Wu, Jianwei; Yu, Chuanyun; Feng, Tao; Zhang, Ning; Zhang, Jianrun
- Abstract
The control algorithm could greatly help the suspension system improve the comprehensive performance of the vehicle. Existing control methods need to obtain the intermediate states, which are difficult to obtain directly or accurately when estimated by filters or observers. Thus, this paper proposed a new practical finite state LQR control method to deal with this problem. By combining with the output state of the finite sensor of the vehicle suspension system and weakening the unknown state as the goal, an optimization model is established with the design variables as the LQR weight coefficients. Then, the direct relationship between the current control input and the finite sensor output is obtained, and the finite state LQR control is realized. Taking the quarter-car suspension model as an example, the corresponding noise is added considering sensor accuracy, and the control performance of the four control methods is studied considering the uncertainties of suspension system parameters. In addition, the acceleration of sprung mass and the dynamic travel coefficient of suspension have been separately calculated by methods of finite state LQR control, LQR control, and PID control. The results show that there is not much difference between them under shock excitation or random excitation. However, the finite state LQR control method has the best comprehensive control performance in that its dynamic tire load coefficient is better than other methods; it could take into account the suspension work stroke coefficient, dynamic tire load coefficient, and sprung mass' acceleration of the vehicle suspension system at the same time. In order to realize the optimal control effect with limited sensor arrangement, the finite state LQR control method only needs to obtain the current sensor output and the current control input, without estimating the unknown intermediate state. By this means, the proposed control method greatly simplifies the design of the control system and has great advantages on practical value.
- Subjects
MOTOR vehicle springs &; suspension; SUSPENSION systems (Aeronautics); FINITE, The; DYNAMIC loads
- Publication
Machines, 2023, Vol 11, Issue 2, p127
- ISSN
2075-1702
- Publication type
Article
- DOI
10.3390/machines11020127