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Active Suspension System (ACTSS). Bradley University Department of Electrical and Computer Engineering Senior Capstone Project 4/27/2006. Project Advisors: Mr. Steven Gutschlag and Dr. Winfred Anakwa. Presented by: Blake Boe and Tyson Richards. Outline. Project Summary - PowerPoint PPT Presentation
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Bradley UniversityBradley UniversityDepartment of Electrical and Computer EngineeringDepartment of Electrical and Computer Engineering
Senior Capstone ProjectSenior Capstone Project4/27/20064/27/2006
Active Suspension System(ACTSS)
Project Advisors:Mr. Steven Gutschlag
andDr. Winfred Anakwa
Presented by:Blake Boe
andTyson Richards
OutlineOutlineI.I. Project SummaryProject Summary
II.II. Functional DescriptionFunctional Description
III.III. System Block DiagramSystem Block Diagram
IV.IV. ResultsResults
V.V. Future WorkFuture Work
VI.VI. QuestionsQuestions
Project SummaryProject Summary
Purpose:Purpose:Minimize the accelerating force on a Minimize the accelerating force on a mass by canceling the disturbance mass by canceling the disturbance with a linear actuator.with a linear actuator.
Project SummaryProject Summary
Objectives:Objectives:
• Integration of the following hardwareIntegration of the following hardware• Linear Actuator – IDC EC2 seriesLinear Actuator – IDC EC2 series• H-Bridge – MSK 4227H-Bridge – MSK 4227
• PSPICE model of the H-bridgePSPICE model of the H-bridge
• Simulink model of linear actuator and Simulink model of linear actuator and motormotor
Project SummaryProject Summary
Objectives:Objectives:
• Redesign existing active suspension systemRedesign existing active suspension system• Replace pneumatic actuator with electric linear Replace pneumatic actuator with electric linear
actuatoractuator
• Implement open and closed loop controllersImplement open and closed loop controllers• Center actuator stroke (open loop)Center actuator stroke (open loop)• Reset actuator stroke (open loop)Reset actuator stroke (open loop)• Disturbance cancellation (closed loop)Disturbance cancellation (closed loop)
Project SummaryProject Summary
Applications:Applications:• Car suspensionCar suspension• Tractor seatTractor seat
Project SummaryProject Summary
Benefits:Benefits:
• Enhance vehicle rideEnhance vehicle ride
• Reduce operator fatigueReduce operator fatigue
• Improve operator performanceImprove operator performance
Blake Tyson
Located hardware Located hardware
U-Controller isolation circuitry U-Controller isolation circuitry
Simulink modeling Simulink modeling
PSPICE H-Bridge model Designed software controllers
Motor protection circuitry
Hardware Implementation
Project SummaryProject Summary
Division of Labor:Division of Labor:
Functional DescriptionFunctional Description
Functional DescriptionFunctional Description
Motor
LinearActuator
Mass
Rotating Camshaft
Position Sensor
Vertical degree of freedom
Vertical degree of freedom
UpperPlatform
LowerPlatform
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
Motor
Mass
Functional DescriptionFunctional Description
• 14.1 in/sec • Continuous operation • 30 lbf load
• High voltage reduced current motor
• (160V – 20A)
Specifications Physical features
• 6 in stroke• Parallel mount
Functional DescriptionFunctional Description
x
OutlineOutlineI.I. Project SummaryProject Summary
II.II. Functional DescriptionFunctional Description
III.III. System Block DiagramSystem Block Diagram
IV.IV. ResultsResults
V.V. Future WorkFuture Work
VI.VI. QuestionsQuestions
System Block DiagramSystem Block Diagram
Active Suspension System
Camshaft Disturbance
Upper PlatformPosition
System Block DiagramSystem Block Diagram
Controller – Micropac 535
Position Sensor
CamshaftDisturbance
Upper Platform Position
Set Point
+
+-
Plant – Active Suspension
System
UpperPlatform Position
Controller Block DiagramController Block Diagram
A/D ConverterMicroprocessor
80C535Set Point PWM
PositionSensor
System Block DiagramSystem Block Diagram
Controller – Micropac 535
Position Sensor
CamshaftDisturbance
Upper Platform Position
Set Point
+
+-
Plant – Active Suspension
System
UpperPlatform Position
Plant Block DiagramPlant Block Diagram
Motor driving the linear actuator
Linear actuator
PWMUpper Platform
PositionH-Bridge
H-Bridge SchematicH-Bridge Schematic
H-Bridge Typical System SchematicH-Bridge Typical System Schematic
Plant Block DiagramPlant Block Diagram
Motor driving the linear actuator
Linear actuator
PWMUpper Platform
PositionH-Bridge
Model of Linear ActuatorModel of Linear Actuator
Simulation of Linear ActuatorSimulation of Linear Actuator
Linear Acceleration [m/sLinear Acceleration [m/s22]]Linear Velocity [m/s]Linear Velocity [m/s]
(160V Step Input)(160V Step Input)
ResultsResults
•Fully integrated software and hardware Fully integrated software and hardware systemsystem
•Functional proportional controllerFunctional proportional controller
Future WorkFuture Work
•More complex control algorithmMore complex control algorithm• Variable gain proportional controllerVariable gain proportional controller• Lag - Lead controllerLag - Lead controller
•Compare experimental results to Simulink Compare experimental results to Simulink ModelModel
QuestionsQuestions
