DISCRETE-TIME ADAPTIVE ACTIVE SUSPENSION FOR A HALF-CAR MODEL

This paper presents a discrete time adaptive active suspension for a m ulti-degree of freedom (MDOF) half-car model. The study involves formu lation of a pitch plane half-car model involving four degrees of freed om and various nonlinear time varying (NTV) parameters. A multi-degree of freedom skyhook reference model has been described in this paper. Discrete auto regressive moving average (DARMA) models for the NTV-MDO F and the reference model have been developed. A modified version of t he least squares estimation in which the controller parameters are upd ated as a matrix rather than as a vector has been derived in this pape r. This approach reduces the computational time required for an adapti ve controller parameters estimation and enhances the hardware implemen tation process. Computer simulation results indicate good adaptation t o the reference model and maintenance of static equilibrium conditions for large squat and nose diving longitudinal manoeuvres. The response s also indicate an optimal vibration isolation and suspension travel p erformance by adapting to the reference model.