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master's thesis
Design and simulation of a vertical dynamics control system within an advanced simulation environment
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. urn:nbn:hr:235:078784
Berljavac, Paolo
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Berljavac, P. (2021). Design and simulation of a vertical dynamics control system within an advanced simulation environment (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:078784

Berljavac, Paolo. "Design and simulation of a vertical dynamics control system within an advanced simulation environment." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:078784

Berljavac, Paolo. "Design and simulation of a vertical dynamics control system within an advanced simulation environment." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:078784

Berljavac, P. (2021). 'Design and simulation of a vertical dynamics control system within an advanced simulation environment', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 20 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:078784

Berljavac P. Design and simulation of a vertical dynamics control system within an advanced simulation environment [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2021 [cited 2024 April 20] Available at: https://urn.nsk.hr/urn:nbn:hr:235:078784

P. Berljavac, "Design and simulation of a vertical dynamics control system within an advanced simulation environment", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:235:078784

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TitleDesign and simulation of a vertical dynamics control system within an advanced simulation environment
Title (croatian)Sinteza i simulacija sustava upravljanja vertikalnom dinamikom vozila u naprednom simulacijskom okruženju
AuthorPaolo Berljavac
MentorJoško Deur (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2021-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
This thesis presents the design of a fully-active and a semi-active suspension control system, their implementation in an advanced simulation environment and a comparative performance analysis. The comparative analysis includes a passive suspension, optimal fully- and semi-active suspensions based on a linear quadratic regulator, a reduced-order control of fully-active suspension and a Skyhook control of semi-active suspension. The reduced-order and Skyhook controllers require a limited sensor suite, which is frequently implemented on high-end passenger vehicles. This gives an insight into how practical controllers compare to benchmark optimal controllers. The controller performance is analyzed in two vertical dynamics test procedures - sine bump and sine sweep and two lateral dynamics test procedures – lane change (ISO 3888-1) and Hockenheim short track lap time simulation. Furthermore, a robustness analysis is carried out with respect to actuator dynamics in terms of force gradient limitation and actuator bandwidth. The robustness analysis is extended to the case of included parameter uncertainties such as rear axle static load change and the addition of noise and offset to feedback loop measurement signals. The reduced-order fully-active suspension controller and Skyhook semi-active suspension controller resulted in significant improvements in terms of comfort in typical vertical dynamics test procedures compared to a passive suspension. The optimal fully- and semi-active suspension controller provide only slightly better results than the practical controllers with respect to most metrics. The comparative analysis of controllers, based on a quarter car model and implemented on the full vehicle model, in lateral dynamics test procedures showed acceptable improvements in terms of vehicle stability and negligible handling improvements. This indicates that a full vehicle model-based controller design would be more appropriate for greater handling metric improvements.
Abstract (croatian)
U ovom je radu prikazana sinteza aktivnih i polu-aktivnih ovjesa putničkih vozila, njihova implementacija u napredno simulacijsko okruženje te usporedna analiza performansi sustava upravljanja. U radu su uspoređeni pasivni ovjes, optimalni aktivni i polu-aktivni ovjes temeljeni na primjeni linearnog kvadratnog regulatora, aktivni ovjes s regulatorom reduciranog reda, te polu-aktivni ovjes sa Skyhook upravljanjem. Potonji aktivni i polu-aktivni ovjes koriste ograničen broj senzora koji su najčešće dostupni na putničkom vozilu. Usporedna analiza temelji se na primjeni karakterističnih procedura vertikalne dinamike vozila poput ceste oblika poluvala sinusoide (engl. sine bump), ceste s promjenjivom frekvencijom vala sinusoide (engl. sine sweep) te procedura bočne dinamike vozila – promjena trake (engl. lane change) i simulacija brzog kruga trkaće staze Hockenheim short (engl. lap time simulation). Osim usporedne analize različitih upravljanja, provedena je analiza robustnosti regulatora s obzirom na dinamiku aktuatora poput ograničenja gradijenta sile te brzine odziva na performanse upravljanja u navedenim procedurama. Ispitivanje robustnosti regulatora prošireno je na slučajeve promijenjenog statičkog opterećenja osovine vozila te unos šuma (engl. noise) i odstupanja (engl. offset) u mjerene signale. Primjena regulatora reduciranog reda te polu-aktivnog ovjesa sa Skyhook upravljanjem dovodi do značajnih poboljšanja komfora u testnim procedurama vertikalne dinamike u usporedbi s pasivnim ovjesom. Performanse optimalnih regulatora aktivnog te polu-aktivnog ovjesa su neznatno bolje od odgovarajućih regulatora reduciranog reda te polu-aktivnog ovjesa sa Skyhook upravljanjem. Usporedna analiza regulatora, temeljenih na četvrtinskom modelu vozila te primijenjenih na puni model vozila, u vidu bočne dinamike je pokazala prihvatljiva poboljšanja po pitanju stabilnosti i neznatne razlike u vidu upravljivosti vozila te se upućuje na primjenu regulatora dizajniranog na temelju modela cijelog vozila u svrhu poboljšanja tih indeksa performansi.
Keywords
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:235:078784
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Embargo expiration date: 2023-07-08
Terms of useLicence In copyright icon
RepositoryRepository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on2021-07-12 08:18:02

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