Modelagem e aplicação de controladores em uma suspensão veicular ativa de um protótipo off-road

Abstract

This work presents a proposal to control the vehicle suspension of a prototype off-road mini Baja, consisting of the application of two controls: the optimal linear quadratic regulator (LQR) control and the control by pole placement. The vehicle suspension has the purpose of guaranteeing the minimum excitation of the external environment, providing comfort and safety to passengers from vibrations coming from the ground. This work consists in the study of the active model suspension, verifying the vehicle dynamic behavior when it is submitted to a disturbance in the terrain. In this way, the effectiveness of the proposed controls is evaluated through computer simulation, using a non-linear mathematical model of a quarter car when it is subjected to an excitation. The ISO 2631 standard classifies passenger comfort levels through the effective value of vertical acceleration, verifying the oscillations that the vehicle presents when exposed to different levels of track. The analysis and comparison of both systems was performed through numerical simulations in MatLab® software. Based on the behavior obtained through the step function, it is concluded that both controllers presented results within the expected in terms of passenger comfort based on the ISO 2631 standard, however, the LQR control showed a shorter settling time when compared to the pole placement.