Linear parameter varying μ synthesis robust control of CDC semi-active suspension system for nonlinearity and uncertainty

Abstract

Because the continuous damping control (CDC) semi-active suspension system has complex nonlinear and uncertain characteristics that can significantly affect the performance of the system. And in the controller design process, achieving a balance of multiple performance objectives is often difficult. Therefore, this paper designs a linear parameter varying (LPV) μ synthesis robust controller for the vibration suppression and multi-objective control of a 7-degree-of-freedom (7-DOF) vehicle suspension system equipped with CDC dampers. Firstly, the nonlinear force model of the solenoid valve CDC damper is developed based on the actual damping variation. Considering the nonlinear forces of the coil springs, the nonlinear model of the 7-DOF suspension system is expressed as LPV form. Further, the linear fractional transformation (LFT) method is used to analyze and reconstruct the system model for multiple parameter uncertainties of the suspension. The actuator time delays are also simulated through a frequency domain transfer function, which is considered to be an unmodeled dynamic at the input of the system. Finally, an LPV-μ synthesis robust controller based on nonlinearity and mixed uncertainty is designed to improve car ride comfort and achieve the best relationship between comfort and handling stability. Simulation and experimental results under random disturbance conditions show that the LPV-μ synthesis controller has better anti-jamming performance and controllability compared to the H_∞ controller and μ synthesis controller.