Robust Controller Design For Active Suspensions Using Particle Swarm Optimisation

摘要

The paper presents a design technique for a fixed-structure PD robust controller of car active suspension systems. The design takes into consideration the uncertainty of system parameters, particularly tyre stiffness and body mass. Robustness is achieved by tuning the controller over a set of operating conditions covering the whole range of system parameters, e.g., body mass and tyre stiffness. Particle swarm optimisation (PSO) is used to attain different performance objectives of the system. Settling time of body displacement is minimised, system damping is maximised, and actuator saturation is avoided via control effort reduction. The design of controller parameters is cast in a multi-objective non-linear optimisation problem, and described to ensure the best possible performance. Simulation results show the superiority of the proposed system relative to the classical passive suspension, and signify robustness of the active controller design.