Pid Controller with Roll Moment Rejection for Pneumatically Actuated Active Roll Control (ARC) Suspension System

Abstract

This chapter presents a successful implementation of PID controller for a pneumatically actuated active roll control suspension system in both simulation and experimental studies. For the simulation model, a full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior in lateral direction is derived. The full vehicle model is then validated experimentally using an instrumented experimental vehicle based on the driver input from the steering wheel. Two types of vehicle dynamics test are performed for the purpose of model validation namely step steer test and double lane change test. The results of model validation show that the behaviors of the model closely follow the behavior of a real vehicle with acceptable error. An active roll control (ARC) suspension system is then developed on the validated full vehicle model to reduce unwanted vehicle motions during cornering maneuvers such as body roll angle, body roll rate, vertical acceleration of the body and body heave. The proposed controller structure for the ARC system is PID control with roll moment rejection loop. The ARC system is then implemented on an instrumented experimental vehicle in which four units of pneumatic actuators are installed in parallel arrangement with the passive suspension system. The 1 www.intechopen.com results of the study shows that the proposed control structure is able to significantly improve the dynamics performance of the vehicle during step steer and double lane change maneuvers compared to a passive vehicle system. It can also be noted that the additional roll moment rejection loop is able to further improve the performance of the PID controller for the ARC system.

Dynamic system for the study of bouncing vibrations of a car with active suspension model for an independent suspension

“…PID control is combined with sequential functions, logic and functional blocks for the construction of automated systems [7], [2].…”

“…𝑡 0 (7) where: 𝑘 𝑝 -is the tuning parameter, Proportional, 𝑘 𝑖 -is the tuning parameter, Integrated, 𝑘 𝑑 -is the tuning parameter, Derived and 𝑒 -is the error (the process variable). The block diagram of a PID controller is shown in figure 4.…”