MLDモデルの最適予見制御によるセミアクティブサスペンションの振動制御

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  • Semi-active vibration control of semi-active suspensions with the optimal preview control for the MLD model.

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<p>Advances in image processing technology have made it possible to measure the surface shape of the road ahead while driving. We propose a new semi-active suspension control method that considers the forward road surface shape. A vehicle model equipped with a semi-active suspension can be expressed as an MLD (Mixed Logical Dynamical) model. When the shape of the road ahead can be measured accurately, it can be considered that the information on the future disturbances is available before the vehicle undergoes. In this paper, we formulate the finite time optimization problem of the MLD model in consideration of the future disturbances as a MIQP (Mixed Integer Quadratic Programming) problem in the same way as the conventional optimal control problem without future disturbance. The solution to the MIQP problem can be obtained by a commonly available solver software. The performance evaluation of the proposed method was carried out by a simulation, and the simulation was performed on the road surface shape generated by the road surface shape generation method based on ISO 8608. In the simulation study, the proposed method was able to achieve better ride quality, i.e., a smaller suspension stroke compared to the traditional MLD predictive control and the Skyhook approximation methods.</p>

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