Extended Kalman Filter for Vehicle Suspension System

Abstract:

This paper presents an estimator for a nonlinear active suspension system considering the hydraulic actuator dynamics. PID controller is used to control the Active suspension system of nonlinear quarter car model. Extended Kalman filter is designed to estimate the states from the measurement model perturbed with noise. Simulation results demonstrate the effectiveness of the PID based active suspension system in reducing the vertical acceleration transmitted to the passengers thereby improving the ride comfort. Also the effectiveness of the Extended Kalman filter in estimating the actual vehicle states is demonstrated.

• Periodical: Applied Mechanics and Materials (Volume 573)
• Pages: 317-321
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.573.317
• Online since: June 2014
• Authors: K. Rajeswari*, Anjali Anjali
• Keywords: Active Suspension System, Extended Kalman Flter (EKF), Nonlinear Quarter Car, PID Control

References

[1] Meysam Shadkam and Hamed Mojallali, Speed control of DC motor using Extended Kalman Filter based Fuzzy PID, International Journal of Information and Electronics Engineering 3 (2013) 109-112.

DOI: 10.7763/ijiee.2013.v3.277

[2] Senthilkumar. M and Vijayarangan. S, Design of LQR controller for active suspension system, Indian Journal of Engineering & Material Sciences 13 (2006) 173-179.

[3] Alleyne. A and J.K. Hedrick, Nonlinear Adaptive Control of Active Suspensions, IEEE Trans. Contr. Syst. Tech. 3 (1997) 94-101.

DOI: 10.1109/87.370714

[4] Lin. J. S and I. Kanellakopoulos, Nonlinear Design of Active Suspension, IEEE Contr. Syst. Mag. 17 (1997) 45-59.

[5] Seok_il Son, Fuzzy Logic Controller for an Automotive Active suspension system, Master's Thesis, Syracuse University, New York, (1996).

[6] Elnaz Akbari, Morteza Farsadi, Intan Z. Mat Darus, Ramin Ghelichi, Observer design for active suspension system using sliding mode control, Proceedings of 2010 IEEE Student conference on Research and Development (2010) 207-212.

DOI: 10.1109/scored.2010.5704003

[7] K. Rajeswari, P. Lakshmi, Simulation of suspension system with sliding mode observer and control, Journal of Electrical Enginering 11 (2011) 76-83.

[8] Yahaya Md. Sam, Johari H.S. Osman and M.R.A. Ghani, A class of proportional - integral sliding mode control with application to active suspension, J. Systems & control letters 51 (2004) 217-223.

DOI: 10.1016/j.sysconle.2003.08.007

[9] Sharma K, Crolla, D.A. Wilson, The design of a fully active suspension system incorporating a Kalman filter for state estimation, International conference on control 1 (1994) 344-349.

DOI: 10.1049/cp:19940156

[10] Gerasimos Rigatos, Pierluigi Siano and Sesto Pessolano, Design of active suspension control system with the use of Kalman filter based disturbances estimator, J. Cybernetics and Physics 1 (2012) 279–294.

[11] Supavut Chantranuwathana, Huei Peng, Practical adaptive robust controllers for active suspensions, Proceedings of the 2000 ASME International Congress and Exposition (IMECE), Orlando, Florida.

DOI: 10.1115/imece2000-2310