SUMMARY Recent work has resulted in the production of a microcomputer controlled, hydraulically actuated, active suspension for the ¼ ton, 4 wheel drive vehicle called the Iltis. The system has been designed to accommodate various control schemes through relatively straightforward changes to software and to transducers. This paper describes the implementation of a preview control scheme on the Iltis. Following an extensive review of sensor technology, ultrasonic sensors were selected for use in a preview mode. These sensors are rugged, sufficiently accurate and cost effective for this purpose. Two preview control schemes are tested through the use of simulations using a full-vehicle model developed with the A'GEM multibody dynamics package. One algorithm, taken from the literature, was developed from optimal control theory using a quarter-car model as a basis. The other algorithm tested was developed from the full-vehicle model. This one, of necessity due to the complexity of the model, did not use optimal control theory but was a more ad hoc scheme designed for off-road operations of the Iltis. The relative performance of the controllers for a specific off-road profile is determined from the simulation results. Finally, some preliminary test results are presented.
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Langlois et al. (1992) studied this question.
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