This project focuses on the modeling, analysis, and control system design of an active vehicle suspension system using a Quarter-car Model. The goal is to optimize the trade-off between Ride Comfort (minimizing cabin vibrations) and Road Holding (maintaining tire-road contact) by implementing an active control strategy.
To better understand the necessity of active control, we compare the mechanical behavior of passive, semi-active, and active suspension systems:
- Passive Suspension: Relies solely on springs and dampers to absorb energy. It is fixed and cannot adapt to varying road conditions.
- Active Suspension: Uses an external energy source (actuator) to adjust the suspension force in real-time, significantly improving the trade-off between ride comfort and road holding.
- Dynamic Modeling: Derivation of system equations of motion and state-space representation.
- Controller Design: Development of a robust PI controller for optimal path tracking and vibration isolation.
- Disturbance Rejection: Implementation of a Feedforward compensator to mitigate road disturbances based on DC-Gain matching.
- Estimation: Design of a Disturbance Estimator for scenarios where direct road roughness measurement is unavailable.
- Robustness Analysis: Evaluation of system performance and stability against sensor noise and physical parameter variations (e.g., spring stiffness degradation).
/Simulations: Contains all MATLAB/Simulink models and simulation scripts./Report: The final project documentation including detailed mathematical derivations and analysis results.
- System Model: Quarter-car passive-active suspension dynamics.
- Control Strategy: PI control, Feedforward compensation, and Disturbance Estimation.
- Analysis Tools: MATLAB & Simulink.
Developed for Linear Control Systems Course | Sharif University of Technology