of of of Controller

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Design of Active Suspension using Robust PID Controller

by

Mohammad Farhan Bin Mohd Nordin 8215

Dissertation submitted in partial fulfilment of the requirements for the

Bachelor of Engineering (Hons) (Mechanical Engineering)

JUNE2010

Jniversiti Teknologi PETRONAS landar Seri Iskandar

1750Tronoh 'erak Darul Ridzuan

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ACKNOWLEDGEMENT

First of all I would like to thank niy supervisor, Dr. Setyamartana Parman for all the guidance and lessons that he has given to me in completing this project. I also would like to express my heartiest gratitude to my supervisor for all the time he spent with me in finishing this project. I believe that without such help I will not be able to complete this project within the time given.

In this opportunity, I also would like to thanks my examiners, Prof. T Nagarajan and Pn. Rosmawati Bt. Mat Zain for their time spent to evaluate this report, and also for their advices regarding my project.

Special thanks and gratitude also goes to UNIVERSffi TEKNOLOGI PETRONAS for providing all the information needed by students in doing our Final Year Project and also for our Mechanical Engineering FYP Coordinator, Dr. Saravanan Karuppanan for assisting ns in doing our final year project.

Thank You.

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CERTIFICATION OF APPROVAL

DESIGN OF ACTIVE SUSPENSION USING ROBUST PID CONTROLLER

Approved by,

by

Mohammad Farhan Bin Mohd Nordin

A project dissertation submitted to the Mechanical Engineering Programme

Universiti Teknologi PETRONAS in partial fulfillment of the requirement for the

BACHELOR OF ENGINEERING (Hons) (MECHANICAL ENGINEERING)

e-/r»~

(Dr. Setyamartana Parman) FYP Supervisor

Mechanical Engineering Department

UNIVERSITI TEKNOLOGI PETRONAS TRONOH, PERAK

JUNE2010

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CERTIFICATION OF ORIGINALITY

This is to certify that I am responsible for the work submitted in this project, that the original work is my own except as specified in the references and acknowledgements, and that the original work contained herein have not been undertaken or done by unspecified sources or persons.

~,

( Mo Farhan Bin Mohd Nordin

'"--..----.----'

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ABSTRACT

This report discusses the final analysis and basic understanding of the chosen topic, which is Design of Active Suspension Using Robust PID Controller. The objective of this research is to propose another method in designing an active suspensien by using robust PID centreller and to analyze the effectiveness ef this method compared to other.

This report is divided into a few main seetiens for clarity and easier reference.

There are Introduction, Literature Review, Methodology and Result and Discussion.

The Introduction part will helps the reader to have a general view on what is Robust PID Controller and how to implement it into an active suspension, in this part;

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also scope of study that being done by the writer.

The body of this report will further explain all the literature review and research that being done before regarding the same field of interest, this will include the research done by the writer on the vibration control of vehicle suspension system that have the same interest with the topic discussed in this report. The methodology part will explain on how the sequence will take place in order to complete this project within one year duration. Result and discussion shall discuss on the mathematical modeling based on two type of vehicle model that being proposed for this project. It is also included in this part the programming and simulation done in the MATLAB on how the system goes in passive suspension and also the active suspension based on two aspects which are suspension travel vs time and body mass displacement vs time. Then the validation is dane by comparing the result gain from the analysis with the literature.

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TABLE OF CONTENT

~~T~C:T ... i

~·~1f .c»Jf Jr[.:;~~ ... , ~·~1f «:)If 1fi\JEI~~~---···"ii LIST OF ABBREVIATIONS ... viii

CHAPTER 1: INTRODUCTION 1.1 Background of Study ... 1

1.2 Problem Statement ... 2

1.3 Objectives ... .3

1.4 ScopeofStudy ... 3

CHAPTER 2: LITERATURE REVIEW 2.1 Suspension System ... A 2.2 Passive Suspension System ... .4

2.3 Active Suspension System ... 6

2.4 Vehicle Suspension Control Strategies ... 7

- - CHAPTER3: METHODOLOGY 3.1 Methodology ... 11

3.2 Modeling ... 12

3.3 Option's ofModels ... 13 3.4 Types of Suspensions

ii

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3.4.1 Types offrent Suspensions

3.4.1.1 Solid Beam Axle ... 17

3.4.1.2 Swing Axle Suspensions ... 17

3.4.1.3 Trailing Link Suspension ... 18

3.4.1.4 MacPherson Front Suspension Assembly ... .19

3.4.1.5 Double Wishbone Suspension ... 19

3.4.2 Types ef Active Suspension 3.4.2.1 Hydraulic Actuated ... 20

3.4.2.2 Electromagnetic recuperative ... 21

CHAPTER4: RESULT AND DISCUSSION 4.1 Design Parameters ... 22

4.2 Design Requirements ... 22

4.3 Mathematical Analysis and Simulation ... 24

4.4 Analysis on the Open Loop and Closed Loop Response for Suspension Travel, X₁-X2 ••••••••••••••••••••.••.••.•••••••••••••••••••••••••••••••••••••••••• 29 4.S Analysis on the Open Loop and Closed Loop Response for Body Mass Displacement, X 1 •.••••••••••••••••...•••••.•••••••••..••••.•.••••.•••••. .44

4.6 Tuning the PID 4.6.1 Ziegler-Nichols Tuning Method ... 50

4.6.2 Trial and Error Method ... 51 4.7 Final Results

iii

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