1. Bradley University Department of Electrical and Computer Engineering Senior Capstone Project 4/27/2006 Active Suspension System (ACTSS) Project Advisors: Mr. Steven Gutschlag and Dr. Winfred Anakwa Presented by: Blake Boe and Tyson Richards

2. Outline I. Project Summary II. Functional Description III. System Block Diagram IV. Results V. Future Work VI. Questions

3. Project Summary Purpose: Minimize the accelerating force on a mass by canceling the disturbance with a linear actuator.

4. Project Summary 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 motorSimulink model of linear actuator and motor

5. Project Summary Objectives: Redesign existing active suspension systemRedesign existing active suspension system Replace pneumatic actuator with electric linear actuatorReplace pneumatic actuator with electric linear actuator 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)

6. Project Summary Applications: Car suspensionCar suspension Tractor seatTractor seat

7. Project Summary Benefits: Enhance vehicle rideEnhance vehicle ride Reduce operator fatigueReduce operator fatigue Improve operator performanceImprove operator performance

8. BlakeTyson Located hardware U-Controller isolation circuitry Simulink modeling PSPICE H-Bridge modelDesigned software controllers Motor protection circuitry Hardware Implementation Project Summary Division of Labor:

9. Functional Description

18. 14.1 in/sec Continuous operation 30 lbf load High voltage reduced current motor (160V – 20A) SpecificationsPhysical features 6 in stroke Parallel mount

19. Functional Description x

20. Outline I. Project Summary II. Functional Description III. System Block Diagram IV. Results V. Future Work VI. Questions

21. System Block Diagram

23. Controller Block Diagram

24. System Block Diagram

25. Plant Block Diagram

26. H-Bridge Schematic

27. H-Bridge Typical System Schematic

28. Plant Block Diagram

29. Model of Linear Actuator

30. Simulation of Linear Actuator Linear Acceleration [m/s 2 ] Linear Velocity [m/s] (160V Step Input)

31. Results Fully integrated software and hardware systemFully integrated software and hardware system Functional proportional controllerFunctional proportional controller

32. Future 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 ModelCompare experimental results to Simulink Model

33. Questions