LQR Control Method for Vehicle Magnetorheological Suspension

Vehicle suspension is a transmission device that connects the wheels and the body, and it plays an important role in road damage, ride comfort, vehicle safety and stability and overall performances of the vehicle. The semi active suspension using magnetorheological dampers has the characteristics of simple structure, low power consumption, high reliability, and has broad application prospects in the field of vehicle suspension. The traditional skyhook controller was based on 2-DOF quarter vehicle suspension, and ignored to suppress pitch motion and roll motion of the vehicle. In order to accurately describe the vibration of the vehicle, a 7-DOF vehicle suspension dynamic model is introduced. The dynamic model mainly describes the vertical vibration, pitch motion, and roll motion of the vehicle. Based on the model, a linear quadratic regulator (LQR) is introduced. The simulation result shows that the LQR controller effectively decreases the vibration both on the vertical axis, pitch axis and roll axis.