A hierarchical controller for the vibration of an automotive suspension system via magnetorheological dampers

摘要

Reducing the vibration of an automotive magnetorheological (MR) suspension system can contribute greatly to enhancing vehicle performance. However, it is difficult to design a control system that depends on a complicated whole-vehicle vibration model. This paper proposes a hierarchical controller that consists of a control level and a coordination level for heave, roll, and pitch vibration control of a vehicle with an MR suspension system. On the control level, a local fuzzy controller is designed for each quarter-vehicle MR suspension system, based on a hybrid control strategy of skyhook control and groundhook control. On the coordination level, a coordination controller is designed to tune four local independent fuzzy controllers by adjusting their output parameters on the basis of system feedback. A test and control system for MR suspensions is set up and implemented on a minibus equipped with four controllable MR dampers. The results on random rough roads confirm that the hierarchical controller can reduce automotive vertical vibration, roll motion, and pitch motion more effectively than a passive suspension or an MR suspension using a hybrid control strategy. It achieves better ride comfort and automobile handling stability, although data for bump input indicate that the hierarchical controller does not decrease automotive vertical vibration more effectively than hybrid control or a passive system. However, it yields better results in decreasing pitch and roll motions.