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Active Suspension Control via Redundant Actuation

[+] Author Affiliations
Robert A. Freeman

The University of Texas - Pan American, Edinburg, TX

Paper No. DETC2004-57411, pp. 1043-1054; 12 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


The use of redundant actuation in the design and control of active automotive suspension systems is described. Redundantly actuated systems consist of more active force / torque inputs than degrees-of-freedom and allow for active control of the effective stiffness of the system to the environment without a change in the equilibrium position. A frontal plane half-car, double A-arm, independent suspension model is investigated. Results show that five actuators, with one connecting the two suspensions, is required for full stiffness and motion control. Due to the dependence of this approach on correct stiffness modeling a previously developed stiffness model is reviewed. The validity of this model is illustrated through some simple yet sufficient examples.

Copyright © 2004 by ASME



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