Last modified: 2018-07-07
Abstract
This paper presents the control design of active suspension system of a light rail vihicle (LRV) using distributed model predictive control (DMPC) scheme with preview disturbance. The control objective is to regulate the deflection of suspension system and the vertical accelaration of carbodies toward zero to provide safety and comfort in riding. A multibody dynamical model of the tree-car train set is considered. The DMPC scheme is applied to the system by dividing system into three interacting subsystems where each subsystem is controled by MPC. The optimal control of system is determined by formulating the DMPC problem as a bargaining game which is then solved by a negotiation algorithm. The simulation results show that the control input of each subsystem brings the output of each subsystem towards zero. This implies that the proposed control design can provide safety and comfort in riding.