Adaptive control of mechatronic vehicle suspension systems:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
2011
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| Schlagworte: | |
| Online-Zugang: | Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20110222-1002476-1-2 Inhaltsverzeichnis |
| Beschreibung: | XX, 222 S Ill., graph. Darst. |
Internformat
MARC
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| 100 | 1 | |a Koch, Guido |d 1980- |e Verfasser |0 (DE-588)144014076 |4 aut | |
| 245 | 1 | 0 | |a Adaptive control of mechatronic vehicle suspension systems |c Guido P. A. Koch |
| 264 | 1 | |c 2011 | |
| 300 | |a XX, 222 S |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 502 | |a München, Techn. Univ., Diss., 2011 | ||
| 650 | 0 | 7 | |a Fahrwerk |0 (DE-588)4016319-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Adaptivregelung |0 (DE-588)4000457-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Regelungssystem |0 (DE-588)4134712-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Radaufhängung |0 (DE-588)4137754-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Fahrzeug |0 (DE-588)4016320-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Aktive Federung |0 (DE-588)4720681-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Schaltsystem |0 (DE-588)4179385-7 |2 gnd |9 rswk-swf |
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Datensatz im Suchindex
| _version_ | 1804145628041707520 |
|---|---|
| adam_text | IMAGE 1
TABLE OF CONTENTS
LIST OF FIGURES IX
LIST OF TABLES XVII
GLOSSARY XIX
CHAPTER 1: INTRODUCTION 1
1.1 SCOPE OF THE THESIS 4
1.2 STRUCTURE OF THE THESIS 6
CHAPTER 2: VEHICLE SUSPENSION SYSTEMS 9
2.1 QUARTER-VEHICLE MODELS 10
2.2 DISTURBANCE TYPES AND MODELS 13
2.2.1 STOCHASTIC ROAD PROFILES 14
2.2.2 SINGULAR DISTURBANCE EVENTS 17
2.3 SYSTEM REQUIREMENTS AND PERFORMANCE EVALUATION 18
2.3.1 RIDE COMFORT 18
2.3.2 SAFETY REQUIREMENTS 20
2.3.3 FURTHER REQUIREMENTS 21
2.3.4 PERFORMANCE EVALUATION 23
I
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1011872498
DIGITALISIERT DURCH
IMAGE 2
2.4 MECHATRONIC SUSPENSION SYSTEMS: STATE OF THE ART 23
2.4.1 SEMI-ACTIVE SUSPENSION SYSTEMS 25
2.4.2 ACTIVE SUSPENSION SYSTEMS 27
2.4.3 SUSPENSIONS WITH VARIABLE STIFFNESS AND DAMPING 30
2.5 SUSPENSION CONTROL: STATE OF THE ART 30
2.5.1 CONTROL OF SEMI-ACTIVE SUSPENSIONS 31
2.5.2 CONTROL OF ACTIVE SUSPENSIONS 34
2.5.3 DRIVING STATE ADAPTIVE CONTROL 35
2.6 VERTICAL DYNAMIC VEHICLE STATE ESTIMATION: STATE OF THE ART 38
2.7 BENCHMARK SYSTEMS 39
CHAPTER 3: ACTIVE SUSPENSION TEST RIG 43
3.1 TEST RIG REQUIREMENTS AND QUADRICYCLE SUSPENSION 44
3.2 TEST RIG STRUCTURE 45
3.2.1 SENSOR CONFIGURATION 47
3.2.2 LINEAR ELECTROMAGNETIC ACTUATORS 47
3.2.3 SIGNAL PROCESSING 48
3.3 MODELING AND PARAMETER IDENTIFICATION 49
3.3.1 ACTUATORMODEL 49
3.3.2 SUSPENSION COMPONENT CHARACTERISTICS 50
3.3.3 NONLINEAR TEST RIG MODEL 54
3.3.4 LINEAR TEST RIG MODEL 57
II
IMAGE 3
3.4 SUMMARY 59
CHAPTER 4: ESTIMATOR DESIGN 61
4.1 STOCHASTIC MODEL FOR THE KAIMAN FILTER DESIGN 62
4.1.1 DISTURBANCE MODEL 62
4.1.2 STOCHASTIC TEST RIG MODEL 62
4.2 PARALLEL KAIMAN FILTER STRUCTURE 65
4.2.1 THEORETICAL PRELIMINARIES 65
4.2.2 APPLICATION TO THE QUARTER-VEHICLE MODEL 66
4.2.3 RESULTING PARALLEL KAIMAN FILTER STRUCTURE 69
4.3 EXTENDED KAIMAN FILTER 70
4.3.1 THEORETICAL PRELIMINARIES 70
4.3.2 APPLICATION TO THE QUARTER-VEHICLE TEST RIG MODEL 72
4.3.3 MASS ESTIMATION 72
4.4 FILTER BASED ESTIMATION 73
4.5 SIMULATION AND MEASUREMENT RESULTS 75
4.6 DISCUSSION 80
CHAPTER 5: ADAPTIVE SWITCHING CONTROL OF ACTIVE SUSPENSION SYSTEMS 83
5.1 MOTIVATION FOR ADAPTIVE SUSPENSION CONTROL 84
5.2 ADAPTIVE CONTROLLER STRUCTURE 86
5.2.1 ADAPTATION LOGIC 88
5.3 STABILITY CONSIDERATIONS 91
III
IMAGE 4
5.3.1 STABILITY ANALYSIS FOR THE STATE FEEDBACK CONTROLLED QUASILINEAR
SYSTEM 92
5.3.2 COMMON LYAPUNOV FUNCTION APPROACH 96
5.3.3 STABILITY IN THE CASE OF NONVANISHING PERTURBATION 98
5.4 CONTROLLER DESIGN 99
5.4.1 OPTIMIZATION BASED CONTROLLER PARAMETRIZATION 100
5.4.2 INTERPOLATION 103
5.5 SIMULATION RESULTS 106
5.6 DESIGN OF THE BENCHMARK CONTROLLERS . 108
5.7 EXPERIMENTAL RESULTS 109
5.8 DISCUSSION 116
CHAPTER 6: POTENTIAL OF A HYBRID SUSPENSION SYSTEM 119
6.1 THE HYBRID SUSPENSION CONCEPT 120
6.2 SUSPENSION MODELS FOR THE POTENTIAL ANALYSIS 121
6.3 SUSPENSION CONTROLLER DESIGN 124
6.4 SYSTEM ANALYSIS 125
6.4.1 DISTURBANCE MODEL AND NORMALIZATION 125
6.4.2 BENCHMARK SYSTEMS 126
6.4.3 INFLUENCE OF BANDWIDTH 126
6.4.4 INFLUENCE OF DAMPING 128
6.5 EVALUATION OF ACHIEVABLE PERFORMANCE 129
6.5.1 CARPET PLOT BASED PERFORMANCE ANALYSIS 129
IV
IMAGE 5
6.6 PERFORMANCE RESULTS OF THE HYBRID SUSPENSION SYSTEM 130
6.7 DISCUSSION 137
CHAPTER 7: HYBRID SUSPENSION TEST RIG 139
7.1 DESIGN OF A HYBRID SUSPENSION SYSTEM 139
7.1.1 HYDRAULIC SUSPENSION ACTUATOR 140
7.1.2 CONTINUOUSLY VARIABLE DAMPER 141
7.1.3 SETUP OF THE HYBRID SUSPENSION STRUT 141
7.2 AUTOMOTIVE QUARTER-CAR TEST RIG 142
7.2.1 SENSOR ARCHITECTURE 143
7.2.2 SIGNAL PROCESSING 144
7.3 NONLINEAR SUSPENSION MODEL 145
7.3.1 COMPONENT CHARACTERISTICS 145
7.3.2 RESULTING SUSPENSION MODEL 148
7.4 ACTUATOR MODELING AND CONTROL 151
7.4.1 HYDRAULIC ACTUATOR 151
7.4.2 CONTINUOUSLY VARIABLE DAMPER 152
7.5 SUMMARY 155
CHAPTER 8: ADAPTIVE REFERENCE MODEL BASED CONTROL OF A HYBRID SUSPENSION
SYS- TEM 157
8.1 ADAPTIVE REFERENCE MODEL BASED CONTROL APPROACH 158
8.1.1 CONTROLLER STRUCTURE 160
V
IMAGE 6
8.2 ADAPTIVE REFERENCE MODEL 161
8.2.1 ADAPTATION LOGIC 161
8.2.2 CONTROL ALLOCATION 165
8.3 STABILITY ANALYSIS 167
8.4 SIMULATION RESULTS 169
8.5 EXPERIMENTAL RESULTS 170
8.5.1 BENCHMARK SYSTEMS 170
8.5.2 POWER DEMAND ANALYSIS 171
8.5.3 MEASUREMENT RESULTS 172
8.6 EXTENSIONS OF THE CONTROLLER STRUCTURE 177
8.6.1 OPTIMAL CONTROL FOR SUSPENSION DEFLECTION 177
8.7 DISCUSSION AND SUMMARY OF RESULTS 182
8.7.1 COMPARISON TO THE ADAPTIVE SWITCHING CONTROL APPROACH FOR THE
FULLY ACTIVE SUSPENSION 182
8.7.2 REALIZABILITY OF THE ADAPTIVELY CONTROLLED HYBRID SUSPENSION 185
CHAPTER 9: CONCLUSION AND FUTURE WORK 187
BIBLIOGRAPHY 191
APPENDIX A: THEORETICAL PRELIMINARIES 207
A.I LINEAR QUADRATIC REGULATOR DESIGN 207
A.2 PRELIMINARIES ON STABILITY 208
A.2.1 LYAPUNOV STABILITY 208
VI
IMAGE 7
A.2.2 COMMON LYAPUNOV FUNCTIONS FOR SWITCHED SYSTEMS 210
A.2.3 ABSOLUTE STABILITY AND THE CIRCLE CRITERION 212
A.2.4 TOTAL STABILITY 214
A.3 SIGNAL PROCESSING 215
A.3.1 PROPERTIES OF RANDOM VIBRATION 215
A.3.2 SAMPLING DATA 216
APPENDIX B: PARAMETERS AND FURTHER RESULTS 217
B.I PARAMETERS OF THE QUARTER-VEHICLE MODELS AND TEST RIGS 217
B.I.I CHARACTERISTIC PARAMETERS OF SUSPENSION SYSTEMS 221
B.2 FURTHER RESULTS 221
|
| any_adam_object | 1 |
| author | Koch, Guido 1980- |
| author_GND | (DE-588)144014076 |
| author_facet | Koch, Guido 1980- |
| author_role | aut |
| author_sort | Koch, Guido 1980- |
| author_variant | g k gk |
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| bvnumber | BV037341623 |
| classification_tum | VER 027d MSR 685d VER 040d |
| collection | ebook |
| ctrlnum | (OCoLC)729979943 (DE-599)BVBBV037341623 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Verkehrstechnik |
| format | Thesis Book |
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| spelling | Koch, Guido 1980- Verfasser (DE-588)144014076 aut Adaptive control of mechatronic vehicle suspension systems Guido P. A. Koch 2011 XX, 222 S Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2011 Fahrwerk (DE-588)4016319-2 gnd rswk-swf Adaptivregelung (DE-588)4000457-0 gnd rswk-swf Regelungssystem (DE-588)4134712-2 gnd rswk-swf Radaufhängung (DE-588)4137754-0 gnd rswk-swf Fahrzeug (DE-588)4016320-9 gnd rswk-swf Aktive Federung (DE-588)4720681-0 gnd rswk-swf Schaltsystem (DE-588)4179385-7 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Fahrwerk (DE-588)4016319-2 s Adaptivregelung (DE-588)4000457-0 s DE-604 Fahrzeug (DE-588)4016320-9 s Radaufhängung (DE-588)4137754-0 s Aktive Federung (DE-588)4720681-0 s Regelungssystem (DE-588)4134712-2 s Schaltsystem (DE-588)4179385-7 s 1\p DE-604 Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20110222-1002476-1-2 http://mediatum.ub.tum.de/node?id=1002476 Verlag kostenfrei Volltext https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20110222-1002476-1-2 Resolving-System DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=022495322&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Koch, Guido 1980- Adaptive control of mechatronic vehicle suspension systems Fahrwerk (DE-588)4016319-2 gnd Adaptivregelung (DE-588)4000457-0 gnd Regelungssystem (DE-588)4134712-2 gnd Radaufhängung (DE-588)4137754-0 gnd Fahrzeug (DE-588)4016320-9 gnd Aktive Federung (DE-588)4720681-0 gnd Schaltsystem (DE-588)4179385-7 gnd |
| subject_GND | (DE-588)4016319-2 (DE-588)4000457-0 (DE-588)4134712-2 (DE-588)4137754-0 (DE-588)4016320-9 (DE-588)4720681-0 (DE-588)4179385-7 (DE-588)4113937-9 |
| title | Adaptive control of mechatronic vehicle suspension systems |
| title_auth | Adaptive control of mechatronic vehicle suspension systems |
| title_exact_search | Adaptive control of mechatronic vehicle suspension systems |
| title_full | Adaptive control of mechatronic vehicle suspension systems Guido P. A. Koch |
| title_fullStr | Adaptive control of mechatronic vehicle suspension systems Guido P. A. Koch |
| title_full_unstemmed | Adaptive control of mechatronic vehicle suspension systems Guido P. A. Koch |
| title_short | Adaptive control of mechatronic vehicle suspension systems |
| title_sort | adaptive control of mechatronic vehicle suspension systems |
| topic | Fahrwerk (DE-588)4016319-2 gnd Adaptivregelung (DE-588)4000457-0 gnd Regelungssystem (DE-588)4134712-2 gnd Radaufhängung (DE-588)4137754-0 gnd Fahrzeug (DE-588)4016320-9 gnd Aktive Federung (DE-588)4720681-0 gnd Schaltsystem (DE-588)4179385-7 gnd |
| topic_facet | Fahrwerk Adaptivregelung Regelungssystem Radaufhängung Fahrzeug Aktive Federung Schaltsystem Hochschulschrift |
| url | http://mediatum.ub.tum.de/node?id=1002476 https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20110222-1002476-1-2 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=022495322&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT kochguido adaptivecontrolofmechatronicvehiclesuspensionsystems |