Ant Colony Optimization Tuned Closed-Loop Optimal Control Intended for Vehicle Active Suspension System

Abstract

In recent years, the suspension system in modern vehicles has played a key role both as far as driving safety and comfort is concerned. To satisfy these vehicle performance specifications, active suspension is currently studied and implemented in practice in recent decades. In contrast to passive suspensions, by introducing force into system, active suspension can alter the suspension dynamic in real-time. A design of a controller is needed for real-time tuning of the control force in an active suspension system (ASS) to fulfill the challenging control objectives of suspension system comprising road handling, ride convenience, and travel suspension. This research proposed a novel ant colony optimization (ACO) algorithm for solving multi-objective weight optimization problem of the linear quadratic regulator (LQR) for automobiles ASS. The optimization problem of ASS is to design a state-feedback controller (SFC) as a result ACO is used to find optimal LQR weights. Here both Q and R weight matrix of LQR is tuned. On a quarter-car ASS (QCASS) system, the effectiveness of ACO-tuned LQR is analytically checked with hardware in loop (HIL) analysis for an irregular road surface. Here, for experiment, ISO road D rough runway, bumpy path, and pulse-type road profile are taken into account. Experimental findings illustrate that the proposed procedure can substantially reduce the acceleration of the Car body due to irregular road profiles compared to classical tuned LQR and model predictive control (MPC). The proposed controller shows the profound impact on the efficiency of the control schemes for three different road profiles.

Keywords

• ASS
• ACO
• bumpy road
• ISO road D rough runway
• LQR
• MPC