Control of an Active Suspension System for a Wheeled Vehicle

  • E. Horiuchi
  • S. Usui
  • K. Tani
  • N. Shirai
Conference paper
Part of the International Union of Theoretical and Applied Mechanics book series (IUTAM)

Abstract

An active suspension system with an actuator in parallel with a spring and a shock absorber is designed for a wheeled vehicle. The passive elements in the mechanism reduce high frequency vibration. A possible implementation with a DC torque motor and a pseudo-straight line mechanism is illustrated. A simple analysis of the kinematics of a wheeled vehicle with an active suspension is also discussed. A control method based on sliding mode control is developed for a two-wheeled two degree of freedom model of the vehicle. Simulation results show that, in the sense of root-mean-square vibration reduction, active suspension is superior to passive suspension and that proposed approaches are effective when applied to a nonlinear system.

Keywords

Torque Assure Sliding Mode Suspen 

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References

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Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • E. Horiuchi
    • 1
  • S. Usui
    • 1
  • K. Tani
    • 1
  • N. Shirai
    • 1
  1. 1.Mechanics Division, Robotics DepartmentMechanical Engineering LaboratoryTsukuba-city, Ibaraki 305Japan

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