Vehicle ride and handling control using active hydraulically interconnected suspension
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In this thesis, is proposed a different actuator layout for active anti-roll hydraulically interconnected vehicle suspension. Unlike other designs, the layout suggested, is a closed circuit which is powered by a hydro-mechanical actuator and neither needs a storage tank for the fluid, nor it needs a pump for charging the storage tank. The project includes four main components: modelling, simulations, the practical part and the experimental part. In the modelling part, the author derived an augmented half-car model which additionally takes lateral acceleration as a disturbance. The model of active hydraulically interconnected suspension system was also obtained. The practical component of the author’s work focuses on the upgrade of the existing half-car testing rig the Dynamics Laboratory at UTS. A precise CAD modelling of the half-car testing rig was done. Then, were proposed the upgrades. The setup was upgraded in compliance with the models designed. After the upgrades, followed the experimental part. The experiments were conducted in three stages: the identification experiments, the implementation of a real LQG compensator and the validation experiments. The author adopted a methodology known as a classical approach in control theory in which the models of a physical system are identified in the frequency domain prior to the design of a control system. In the thesis, it is discussed in detail how the experiments were conducted and the data analysed. All theoretical derivations, mechanical drawings, and codes are thoroughly explained. The experimental results indicate two significant outcomes: the identified models demonstrate high prediction power, the LQG compensator improves frequency response characteristics of the system and achieves significant roll angle reduction across the range of frequencies of the interest including the resonance. Overall, the results obtained experimentally come in excellent agreement with the simulations which confirms the integrity of current research.
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