Design of a hybrid model predictive controller for the vehicle height adjustment system of an electronic air suspension

摘要

The vehicle height adjustment system of an electronically controlled air suspension poses challenging hybrid control problems, since it can operate in several distinct discrete modes (the gas-charging mode, the gas-discharging mode and the no-action) by switching the on-off solenoid valves. This paper describes the development and experimental validation of a new vehicle height adjustment controller for an electronically controlled air suspension based on the theory of hybrid systems. The mixed logical dynamic modelling approach, which is an effective model structure for hybrid systems, is chosen to obtain the hybrid dynamic behaviours of the vehicle height adjustment system. On the basis of some reasonable assumptions and a linear approximation for the non-linearities of the components, the mixed logical dynamic model of the system is constructed by using the hybrid systems description language, which is a high-level hybrid modelling language. Using this model, a constrained optimal control problem is formulated and solved by tuning a hybrid model predictive controller, which can track the desired vehicle height through controlling the on-off statuses of the solenoid valves directly. Simulations and experimental results are presented finally to show how the hybrid framework and the optimization-based control strategy can be successfully applied to solve the vehicle height control problem of an electronically controlled air suspension in a systematic way.