The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers

Jerzy Kasprzyk; Piotr Krauze; Janusz Wyrwał

doi:10.1007/978-3-319-60699-6_21

The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers

Jerzy Kasprzyk
, Piotr Krauze
, Janusz Wyrwał

Department of Measurements and Control Systems (RAU/RAU2)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

The problem of improving driving safety for vehicles equipped with magnetorheological (MR) dampers is considered. It is proposed to control the MR dampers using the clipped LQ (Linear Quadratic) control which can be regarded as the two-dimensional Skyhook algorithm. The strategy is applied to a half-car model with four degrees of freedom, oriented on roll dynamics. Here, control algorithm optimised with respect to minimisation of roll vibrations is considered. Simulation experiments were performed assuming the model is subjected to impulse excitation generated as a torque applied in the centre of gravity, that is equivalent to a manoeuvre in the form of a sudden turning. The quality of the algorithm was validated using the RMS-based performance index and the results confirm the effectiveness of the proposed solution for the semi-active suspension.

Original language	English
Title of host publication	Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017
Editors	Wojciech Mitkowski, Krzysztof Oprzedkiewicz, Pawel Skruch, Janusz Kacprzyk
Publisher	Springer Verlag
Pages	214-223
Number of pages	10
ISBN (Print)	9783319606989
DOIs	https://doi.org/10.1007/978-3-319-60699-6_21
Publication status	Published - 2017
Event	19th Polish Control Conference, KKA 2017 - Krakow, Poland Duration: 18 Jun 2017 → 21 Jun 2017

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	577
ISSN (Print)	2194-5357

Conference

Conference	19th Polish Control Conference, KKA 2017
Country/Territory	Poland
City	Krakow
Period	18/06/17 → 21/06/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Clipped LQ control
Driving safety
Half-car model
Magnetorheological damper
Skyhook control

ASJC Scopus subject areas

Control and Systems Engineering
General Computer Science

Access to Document

10.1007/978-3-319-60699-6_21

Cite this

Kasprzyk, J., Krauze, P., & Wyrwał, J. (2017). The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers. In W. Mitkowski, K. Oprzedkiewicz, P. Skruch, & J. Kacprzyk (Eds.), Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017 (pp. 214-223). (Advances in Intelligent Systems and Computing; Vol. 577). Springer Verlag. https://doi.org/10.1007/978-3-319-60699-6_21

Kasprzyk, Jerzy ; Krauze, Piotr ; Wyrwał, Janusz. / The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers. Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017. editor / Wojciech Mitkowski ; Krzysztof Oprzedkiewicz ; Pawel Skruch ; Janusz Kacprzyk. Springer Verlag, 2017. pp. 214-223 (Advances in Intelligent Systems and Computing).

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title = "The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers",

abstract = "The problem of improving driving safety for vehicles equipped with magnetorheological (MR) dampers is considered. It is proposed to control the MR dampers using the clipped LQ (Linear Quadratic) control which can be regarded as the two-dimensional Skyhook algorithm. The strategy is applied to a half-car model with four degrees of freedom, oriented on roll dynamics. Here, control algorithm optimised with respect to minimisation of roll vibrations is considered. Simulation experiments were performed assuming the model is subjected to impulse excitation generated as a torque applied in the centre of gravity, that is equivalent to a manoeuvre in the form of a sudden turning. The quality of the algorithm was validated using the RMS-based performance index and the results confirm the effectiveness of the proposed solution for the semi-active suspension.",

keywords = "Clipped LQ control, Driving safety, Half-car model, Magnetorheological damper, Skyhook control",

author = "Jerzy Kasprzyk and Piotr Krauze and Janusz Wyrwa{\l}",

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year = "2017",

doi = "10.1007/978-3-319-60699-6\_21",

language = "English",

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editor = "Wojciech Mitkowski and Krzysztof Oprzedkiewicz and Pawel Skruch and Janusz Kacprzyk",

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Kasprzyk, J, Krauze, P & Wyrwał, J 2017, The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers. in W Mitkowski, K Oprzedkiewicz, P Skruch & J Kacprzyk (eds), Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017. Advances in Intelligent Systems and Computing, vol. 577, Springer Verlag, pp. 214-223, 19th Polish Control Conference, KKA 2017, Krakow, Poland, 18/06/17. https://doi.org/10.1007/978-3-319-60699-6_21

The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers. / Kasprzyk, Jerzy; Krauze, Piotr ; Wyrwał, Janusz.
Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017. ed. / Wojciech Mitkowski; Krzysztof Oprzedkiewicz; Pawel Skruch; Janusz Kacprzyk. Springer Verlag, 2017. p. 214-223 (Advances in Intelligent Systems and Computing; Vol. 577).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers

AU - Kasprzyk, Jerzy

AU - Krauze, Piotr

AU - Wyrwał, Janusz

N1 - Publisher Copyright: © Springer International Publishing AG 2017.

PY - 2017

Y1 - 2017

N2 - The problem of improving driving safety for vehicles equipped with magnetorheological (MR) dampers is considered. It is proposed to control the MR dampers using the clipped LQ (Linear Quadratic) control which can be regarded as the two-dimensional Skyhook algorithm. The strategy is applied to a half-car model with four degrees of freedom, oriented on roll dynamics. Here, control algorithm optimised with respect to minimisation of roll vibrations is considered. Simulation experiments were performed assuming the model is subjected to impulse excitation generated as a torque applied in the centre of gravity, that is equivalent to a manoeuvre in the form of a sudden turning. The quality of the algorithm was validated using the RMS-based performance index and the results confirm the effectiveness of the proposed solution for the semi-active suspension.

AB - The problem of improving driving safety for vehicles equipped with magnetorheological (MR) dampers is considered. It is proposed to control the MR dampers using the clipped LQ (Linear Quadratic) control which can be regarded as the two-dimensional Skyhook algorithm. The strategy is applied to a half-car model with four degrees of freedom, oriented on roll dynamics. Here, control algorithm optimised with respect to minimisation of roll vibrations is considered. Simulation experiments were performed assuming the model is subjected to impulse excitation generated as a torque applied in the centre of gravity, that is equivalent to a manoeuvre in the form of a sudden turning. The quality of the algorithm was validated using the RMS-based performance index and the results confirm the effectiveness of the proposed solution for the semi-active suspension.

KW - Clipped LQ control

KW - Driving safety

KW - Half-car model

KW - Magnetorheological damper

KW - Skyhook control

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U2 - 10.1007/978-3-319-60699-6_21

DO - 10.1007/978-3-319-60699-6_21

M3 - Conference contribution

AN - SCOPUS:85021200698

SN - 9783319606989

T3 - Advances in Intelligent Systems and Computing

SP - 214

EP - 223

BT - Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017

A2 - Mitkowski, Wojciech

A2 - Oprzedkiewicz, Krzysztof

A2 - Skruch, Pawel

A2 - Kacprzyk, Janusz

PB - Springer Verlag

T2 - 19th Polish Control Conference, KKA 2017

Y2 - 18 June 2017 through 21 June 2017

ER -

Kasprzyk J, Krauze P , Wyrwał J. The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers. In Mitkowski W, Oprzedkiewicz K, Skruch P, Kacprzyk J, editors, Trends in Advanced Intelligent Control, Optimization and Automation - Proceedings of KKA 2017-The 19th Polish Control Conference, 2017. Springer Verlag. 2017. p. 214-223. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-60699-6_21

The clipped LQ control oriented on driving safety of a half-car model with magnetorheological dampers

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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