Verbesserung des Fahrkomforts eines Straßenfahrzeuges durch Aufbauisolation mittels des passivitätsbasierten Regelungsansatzes IDA-PBC

摘要

The chassis suspension of road vehicles has always stood for driving dynamics, driving safety and driving comfort. The deliberate influence on these variables for the dissolution of design constraints and conflicting objectives has been the subject of intensive attention for several decades. Thus, the present article aims at improving the driving comfort. This is done by isolating the vehicle body dynamics from the wheel by means of a semi-active suspension. The movements of the wheel are no longer (completely) transmitted to the vehicle body and thus its vibration excitation can be reduced. In order to implement this approach, the passive-based control method "Interconnection and Damping Assignment" (IDA) was used to limit the degrees of freedom in controller synthesis, and a systematic and physically comprehensible approach was chosen based on the analysis of the stability-relevant subsystem structure. Included in this article is a brief introduction to systems theory of passivity, "Port Controlled Hamiltonian Systems with Dissipation" (PCHD), and IDA controller synthesis. The modelling is based on a quarter-vehicle test stand of the Institute of Control Engineering of the University of the Federal Armed Forces in Munich. On basis of this test stand, a controller parameterization based on simulations and practical testing was carried out. Finally, a consideration of stability and passivity to the closed system has been done.