Dual Vibration Reduction Structured Active Suspension via Bushing Spring and Corresponding Nonlinear Parameter Visual Optimization Based H₂/H_∞ Controller

A common bushing is suggested to be upgraded into a bushing spring by thickening the rubber layer to pragmatize the dual vibration reduction structured (DVRS) active suspension. To remedy negative influence of the actuator equivalent inertial mass on the vertical vibration performance of the active suspension utilizing the rotary-motor actuator, a DVRS active suspension scheme via bushing spring is proposed and its corresponding nonlinear controller is specially developed. The “quasi-saturation” damping force and “inverse S-shaped” elastic force model is proposed to match the bushing spring test data. The corresponding nonlinear parameter visual optimization based H ₂ /H _∞ controller is specially developed to deal with the nonlinear factors of the DVRS active suspension and the absence of linear damping of the bushing spring. Simulation and hardware-in the-loop experimental results corroborate the effectiveness of the featured DVRS active suspension regulated by the specially designed controller with good performances under both D-class and bumpy road running conditions, especially in reducing the body acceleration and improving vehicle ride comfort.