Fuzzy Logic Control for Active Suspension System

MECH 523 Erin Fung

Motivation
Traditional suspension is a passive system because there is no external force applied to control the motion of the vehicle. There is trade-off between handling and ride quality in the passive suspension due to its fixed stiffness. Active control can balance the trade-off by supply energy using an actuator to control the relative motion between the road and the vehicle body.

Modeling of Suspension System

One-fourth of the vehicle is modeled (2DOF s) m1 : mass of vehicle body m2 : mass of wheel k1,k2: spring constants c1: damping coefficient w: irregular road profile u: control force y = x1 x2 : suspension travel (displacement of the suspension stroke)

Equations of Motion:

& & m1 &&1 + c1 ( x1 - x2 ) + k1 ( x1 - x 2 ) = u x

& & m2 &&2 + c( x 2 - x1 ) + k1 ( x2 - x1 ) + k 2 ( x 2 - w) = -u x

Why Fuzzy Logic?

Actual model of the system contains nonlinearities and complexities (the 2DOF model is ill-defined) Road profile is irregular and is uncertain Performance of the suspension and comfort of the ride is subjective.

Fuzzy Logic Controller

2 inputs:
y: suspension travel (x1-x2) y : derivative of the suspension travel

1 output:
u: active control force

Simulink Model

Fuzzy Logic
Mamdani model used 7 fuzzy sets for each input and output 49 fuzzy rules

y y NB N NS ZE PS PM PB NB NB NB M NB NM NM NS ZE N NB NB N NS NS ZE PS NS M NB N NS M NS ZE PS PM ZE N NS M NS ZE PS PS PM PS N M NS ZE PS PS PM PB P NS M ZE PS PS P PB PB P M ZE PS P P PB M PB PB M M NB NM NS ZE Negative Big Negative Medium Negative Small Zero PS PM PB Positive Small Positive Medium Positive Big B

Fuzzy Logic

Simulation Results 1
Sinusoidal wave with various frequency components is simulated as road profile.

Small Suspension Travel

Small and smooth acceleration

Simulation Results 2
Random noise as vibrations of the road

Smooth acceleration

Conclusion
Significant reduction in the suspension travel Smooth and low acceleration amplitude contributing to a smooth ride Fuzzy logic controller is robust and performs well with unpredictable variations in the road profile as well as the model parameters