Implementation and comparison of LQR-MPC on active suspension system

摘要

Suspensions are systems produced to minimize the effect of road surface defects on the vehicle, and are divided into three as passive, semi-active and active suspensions. In this study, quarter car suspension model is examined with linear quadratic regulator (LQR) and model predictive controller (MPC), respectively. Quanser active suspension experiment set is used to obtain experimental results. First, LQR which minimizes the performance criteria related to state and input signals is used to control the system. Then, MPC which is very popular in the industry is used as a second control method. After obtaining nominal system responses for both control methods, comparison between LQR and MPC under different load characteristics and parameter variations is done. By changing the road characteristics and the plant, and by applying disturbance to the system, system responses with LQR and MPC are examined and compared.