Title: Stochastic optimal control of truck cabin with active suspension

Authors: Hüseyin Akçay; Semiha Türkay

Addresses: Department of Electrical and Electronics Engineering, Anadolu University, 26470 Eskişehir, Turkey ' Department of Electrical and Electronics Engineering, Anadolu University, 26470 Eskişehir, Turkey

Abstract: In this paper, a three-degree-of-freedom cabin model for a commercial truck is derived to study ride motions of the cabin under random road excitations. First, an active suspension system is designed using the linear-quadratic-Gaussian (LQG) design methodology. Then, the LQG design is reduced by the method of balanced truncation. The simulation results show that both the LQG design and the truncated controller effectively suppress the cabin vibrations induced by road unevenness. Next, the control design problem is re-formulated as a non-convex and non-smooth optimisation problem with fixed-order controllers and solved by the recently developed H^∞ fixed-order optimisation (HIFOO) toolbox.

Keywords: truck cabins; active suspension; random vibration; linear quadratic Gaussian; HIFOO control; heavy vehicles; optimal control; H-infinity control; modelling; commercial trucks; ride motion; road excitations; balanced truncation; simulation; LQG design; cabin vibrations; road unevenness; controller design; vehicle suspension.

DOI: 10.1504/IJHVS.2014.066067

International Journal of Heavy Vehicle Systems, 2014 Vol.21 No.3, pp.183 - 207

Published online: 30 Apr 2015 *

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