chenkean / activesuspensioncontrolcomparisonadrc-lqr-pid

Active Suspension Control Comparison ADRC LQR- ID

ActiveSuspension Control Comparison ADRC (Active Disturbance Rejection Control), LQR (Linear Quadratic Regulator) and PID

Project Media

Simscape Simulation
Simulink Model
Control Algorithm Comparison

Description

This project is designed to test and control the vehicle suspension with 3 different control algorithms: ADRC, LQR, and PID. I draw the Cyber Truck on Autodesk Fusion 360 and connected the parts on Simulink Simscape for simulation.

ADRC estimates and compensates for system uncertainties in real-time, providing disturbance rejection performance similar to PID controllers but with less tuning effort.

The theory of LQR optimal control is concerned with operating a dynamic system at a minimum cost. The case where the system dynamics are described by a set of linear differential equations and the cost is described by a quadratic function is called the LQ problem.

A PID controller continuously calculates an error value e(t) as the difference between a desired setpoint and a measured process variable and applies a correction based on proportional, integral, and derivative terms, hence the name.

I sent three disturbances (road height) to the system with different heights. According to the plot, sort of the control algorithm success can be: ADRC, LQR and PID.

Tools and Languages

* MATLAB 2023a

* Simulink

* Simulink Simscape

* Simulink Desktop Real-Time

* Simulink Control Toolbox

Installation

1. Download SuspensionModel.slx.
2. Download .stl files into your MATLAB path.
3. Be sure that Simscape Multibody parts are attached to .stl files.

Open to Development

Please share your comments and ideas about the project with me. Thank you for your time.