The generalized predictive control(GPC) is applied to the control of automobile active suspension to overcome the detrimental effects of time delay of the hydraulic actuators and the vehicle.
In this paper, simple models of roll and pitch motion are developed respectively assuming decoupled dynamics, and the GPC controllers based on each model are applied to coupled 10-dof nonlinear vehicle model to test the feasibility. The result of predictive control is compared with that of the conventional feed-forward control.
For further improvement of stability, active roll and pitch moment distribution control (MDC) rule is developed for combined driving condition such as cornering is applied simultaneously with braking or acceleration. MDC, which utilizes understeer characteristics and driving conditions, can improve the handling toward the neutral steering in mild driving condition and prevent the spin-out or drift in severe one. The effectiveness of proposed method is demonstrated by computer simulations.
