Pengujian Prototip Suspensi Aktif Tegar (Robust) Model Seperempat Kendaraan

ITB Journal of Science 01/2004; 36:83-95. DOI: 10.5614/itbj.sci.2004.36.1.6

ABSTRACT Sari. Pada makalah ini akan dipaparkan hasil pengujian performansi dari sistem suspensi aktif tegar yang telah dibuat. Pengujian dilakukan dengan memberikan sinyal ganguan berupa sinyal sinusoida dengan amplituda sebesar 3 mm puncak ke puncak, dan frekuensi eksitasinya diubah-ubah mulai dari 1 Hz sampai dengan 9 Hz. Hasil pengujian menunjukkan bahwa sistem suspensi aktif yang dibuat memberikan percepatan massa sprung yang lebih kecil dibandingkan dengan sistem suspensi pasifnya, dalam rentang frekuensi 1 Hz sampai dengan 4 Hz. Pada rentang frekuensi 5 Hz sampai dengan 9 Hz sistem suspensi aktif memberikan harga percepatan vertikal massa sprung lebih besar dari sistem suspensi pasifnya. Disamping itu, dalam seluruh rentang frekuensi pengujian terhitung mulai 1 Hz hingga 9 Hz, percepatan massa unsprung sistem suspensi aktif yang dibuat lebih kecil dibandingkan dengan sistem suspensi pasifnya. Kata Kunci: model seperempat kendaraan; sistem suspensi aktif; teori kontrol tegar. Abstract. In this paper the result of the performance test of a robust-active suspension system will be presented. The performance of the developed suspension system was evaluated under a sinusoidal road disturbance with amplitude of 3 mm (peak to peak), and within the frequency test range of 1 – 9 Hz. The experimental results show that in the frequency test range of 1 – 4 Hz, the sprung mass acceleration of the active suspension is smaller than that of the passive suspension. However, the sprung mass acceleration of the active suspension is higher than that of the passive one, in the frequency test range of 5 – 9 Hz. Moreover, the unsprung mass acceleration of the active suspension is smaller than its passive counterpart in all of the frequency test range 1 – 9 Hz.

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  • Journal of Dynamic Systems Measurement and Control-transactions of The Asme - J DYN SYST MEAS CONTR. 01/1976; 98(3).
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    ABSTRACT: In this paper, the control of an active suspension system using a quarter car model has been investigated. Due to the presence of non-linearities such as a hardening spring, a quadratic damping force and the ‘tyre lift-off’ phenomenon in a real suspension system, it is very difficult to achieve desired performance using linear control techniques. To ensure robustness for a wide range of operating conditions, a sliding mode controller has been designed and compared with an existing nonlinear adaptive control scheme in the literature. The sliding mode scheme utilizes a variant of a sky-hook damper system as a reference model which does not require real-time measurement of road input. The robustness of the scheme is investigated through computer simulation, and the efficacy of the scheme is shown both in time and frequency domains. In particular, when the vertical load to the sprung mass is changed, the sliding mode control resumes normal operation faster than the nonlinear self-tuning control and the passive system by factors of 3 and 6, respectively, and suspension deflection is kept to a minimum. Other results showed advantages of the sliding mode control scheme in a quarter car system with realistic non-linearities.
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    ABSTRACT: In this paper, a previously developed nonlinear “sliding” control law is applied to an electro-hydraulic suspension system. The controller relies on an accurate model of the suspension system. To reduce the error in the model, a standard parameter adaptation scheme, based on Lyapunov analysis, is introduced. A modified adaptation scheme, which enables the identification of parameters whose values change with regions of the state space, is then presented. These parameters are not restricted to being slowly time-varying as in the standard adaptation scheme; however, they are restricted to being constant or slowly time varying within regions of the state space. The adaptation algorithms are coupled with the control algorithm and the resulting system performance is analyzed experimentally. The performance is determined by the ability of the actuator output to track a specified force. The performance of the active system, with and without the adaptation, is analyzed. Simulation and experimental results show that the active system is better than a passive system in terms of improving the ride quality of the vehicle. Furthermore, both of the adaptive schemes improve performance, with the modified scheme giving the greater improvement in performance
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