Protótipo de suspensão ativa para veículos de competição Off-Road

Abstract

The vehicle’s suspension system plays a crucial role in dealing with the contact between the vehicle and the ground. Its function encompasses keeping the tires firmly grounded on uneven terrain, ensuring the isolation of these chassis irregularities, reacting to longitudinal (acceleration and braking) and lateral (curving) forces, and even resisting chassis rolling. Therefore, it is evident that the suspension system describes a significant portion of the vehicle’s dynamics, directly influencing the drivability and comfort of the driver. This project aims to develop an active suspension prototype utilizing modern control techniques to evaluate the enhancement of an off-road vehicle’s performance in terms of rider comfort. To achieve this, a 1/4 car control plant will be built based on the reduced-scale geometry of a Baja SAE type off-road vehicle, incorporating the SAVGS actuation mechanisms concept. Electronics, DC motors, encoders, and accelerometers, will be used to control the entire system. System modeling will employ ARMAX models using system identification techniques. The robust controller to be used will be based on minimizing the H2 norm, considering D-Stability