Stiffness and damping real-time control algorithms for adjustable suspensions : A strategy to reduce dynamical effects on vehicles in off-road conditions*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Deremetz, Mathieu; Lenain, Roland; Thuilot, Benoit
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 1958
• Page End: 1964
• Publication Date: 2017-07
• Subjects: Intelligent controllers -- Mechatronic for Mobility Systems -- Mobile Robots -- Field robotics -- Autonomous vehicles in agriculture -- Robotics -- mechatronics for agricultural automation; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1565
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, the problem of dynamical effects of ground irregularity or stability of vehicles in off-road conditions is addressed thanks to a dynamic analysis of the vehicle. In particular, the choice of suitable real-time values for the stiffness and the damping of adjustable suspensions, in order to reduce dynamical effects, is investigated thanks to the analysis of a Laplace transfer function describing the mechanical behaviour of the vehicle. Moreover, a decoupled load transfer computation to identify the suspended masses on each suspension is used and a way to modify in real time suspension parameters by modifying the settling time value in order to drive over obstacles is proposed. This new point of view may permit to use effectively adjustable suspensions in off-road context. Previous approaches indeed only focus on the control of adjustable suspensions on road or by using an actuator in parallel of the suspension and are often dedicated to the driver comfort.