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Skyhook and CRONE active suspensions: A comparative study

2019; Elsevier BV; Volume: 52; Issue: 5 Linguagem: Inglês

10.1016/j.ifacol.2019.09.039

2405-8971

Emna Hamrouni, Xavier Moreau, André Benine-Neto, Vincent Hernette,

Hydraulic and Pneumatic Systems

Abstract This paper presents a comparison of control methods for active suspensions in the context of Advanced Driver-Assistance Systems (ADAS) which are devised with a generic hierarchical architecture for Global Chassis Control (GCC). Such architecture is composed of a supervisory level which allows the estimation of the comfort operating domain. The rear suspension of a Citroen C4 Picasso is described by a quarter-car model. Firstly, an optimal Skyhook controller is designed taking into account suspension functions (sprung mass acceleration, deflection and tyre deformation). For comparative purposes, the Skyhook is approached from the point of view of a first generation CRONE controller (Robust Control Frequency Synthesis), which is introduced as a generalized form for the suspension. Performances in terms of suspension functions are juxtaposed to those of the degraded operation mode of the active system (failure of the control), considering disturbances such as road irregularities and load transfers. Simulation results show better performances of active suspension with the first generation CRONE controller compared to the Skyhook one.