A motion-scheduled LPV control of full car vertical dynamics

International audienceIn this paper, we present a new Linear Parameter Varying LPV/H ∞ motion adaptive suspension controller that takes into account the three main motions of the vehicle vertical dynamics: bounce, roll and pitch motions. The new approach aims, by using a detection of the vehicle motions, at designing a controller which is able to adapt the suspension forces in the four corners of the vehicle according to the dynamical motions, in order to mitigate these vertical dynamics which could be stimulated by the road-induced vibrations, making a tight turn or an evasive manoeuvre, braking or accelerating. The main idea of this strategy is to use three scheduling parameters, representative of the motion distribution in the car dynamics, to adapt and distribute efficiently the suspension actuators. The motion detection strategy is based on the supervison of load transfer distribution. A full 7 degree of freedom (DOF) vertical model is used to describe the body motion (chassis and wheels), and to synthesize the LPV controller. The controller solution is derived in the framework of the LPV/H ∞ and based on the LMI solution for polytopic systems. Some simulations are presented in order to demonstrate the effectiveness of this approach