Simulation and real-time analysis of active suspension system over controller area network

Abstract

This paper discusses the simulation of network-based control of active car suspension system. The suspension is modelled as of a class of linear and the states of the system are treated as the node to transmit in data in the Controller Area Network (CAN) – based network. The designed PID controller is also connected to the CAN network with additional sending/receiving node. In order to guarantee the timeliness of the messages, a few scheduling approaches namely Fixed Priority, Deadline Monotonic and Earliest Deadline First are tested to schedule the messages. The performance of a quarter car model is observed through a simulation study based on specialised Real-time Truetime Toolbox in Matlab/Simulink. In this work, road disturbance is also introduced to the system so as the ride controller presented by the movement of the wheel and car body can also be accessed as the mean to measure the system performance. The simulations results show that for this class of system, the performance of the system are relatively similar for all the scheduling methods which imply that for dynamic system with less package rate, selection of scheduling algorithm is less critical.