H_∞ Control of a Novel Low-Cost Roll-Plane Active Hydraulically Interconnected Suspension: An Experimental Investigation of Roll Control under Ground Excitation

摘要

In order to make the active suspension more affordable, a novel low-cost active hydraulically interconnected suspension is developed, assembled and tested onto a sport utility vehicle. H_∞ roll control strategy is employed to control vehicle body's roll motion. The hydraulic suspension model used for deriving the H∞ controller is estimated experimentally from the testing data. The active suspension model is then combined with the half-car model through their mechanical-hydraulic interface in the cylinders. The weighting function design of the H_∞ control is provided. On a 4-posttest rig, the active suspension with H_∞ control is validated with several road excitations. The test rig and experimental setup are explained and the obtained results are compared. The effectiveness of the designed H_∞ controller is verified by the test data, with a considerable roll angle reduction in the three tests presented.