This study presents the design of interconnection and damping assignment passivity-based control for active suspension systems. It is well known that interconnection and damping assignment passivity-based control’s design methodology is based on the physical properties of the system where the kinetic and potential energy profiles are shaped, and asymptotic stability is achieved by damping injection. Based on the choice of control variables, special cases of the control law are derived, and tuning of the control law with the physical meaning of the variables is demonstrated along with their simulation results. The proposed control law is experimentally validated on a scaled model of a quarter-car active suspension system with different road profiles, varying load conditions, and noise and delay in the sensor measurements and actuator respectively. The results are compared with that of an uncontrolled system with linear quadratic regulator and sliding mode control.

这项研究提出了主动悬架系统的基于互连和阻尼分配无源性的控制设计。众所周知，基于无源互连和阻尼分配的控制方法的设计方法是基于系统的物理特性，其中动能和势能曲线是成形的，并且通过阻尼注入实现了渐近稳定性。根据控制变量的选择，推导了控制律的特殊情况，并通过变量的物理含义对控制律进行了调整，并给出了仿真结果。在具有不同道路轮廓，变化的负载条件以及传感器测量值和执行器中的噪声和延迟的四分之一汽车主动悬架系统的比例模型上，通过实验验证了拟议的控制律。