The aim of this thesis is the implementation on the vehicle of a control system of an electro-hydraulic semi-active suspension for mountain bikes. In recent years the market for high range bicycles has been growing very rapidly. The demand for new technologies that increase performance more and more, both in the sports and recreational fields, is accordingly raising. Semi-active suspensions have already proved their effectiveness on many other vehicles, especially automobiles, and could give a significant contribution to comfort and performances on a top-class mountain-bike. In this thesis, the position control of the actuator was initially developed, in order to obtain a satisfactory tracking of the position reference. Indeed a good control of the actuator is crucial to obtain satisfactory results in the control of vertical dynamics. Two semi-active control algorithms were then analyzed and applied on the vehicle. Both logics have been verified through several mountain bike tests. The control algorithms implemented were Skyhook and Acceleration Driven Damping, most effective at low and high frequencies respectively. These control algorithms were developed mainly in the automotive sector, and their use on a different vehicle was verified. Actually the results obtained were fully satisfactory as expected. Before this work none of these semi-active algorithms had ever been tested on a mountain bike.
L'obiettivo di questa tesi è l'implementazione su veicolo di un sistema di controllo di una sospensione semi-attiva elettroidraulica per mountain bike. Negli ultimi anni il mercato delle biciclette di fascia alta sta crescendo molto rapidamente, e con esso la richiesta di nuove tecnologie che incrementino sempre più le prestazioni, sia in ambito sportivo che ricreativo. Le sospensioni semi-attive hanno già dimostrato la loro efficacia su molti veicoli, a partire dall'automotive, e potrebbero dare un importante contributo al comfort ed alle prestazioni di una mountain-bike di alta gamma. In questa tesi inizialmente è stato sviluppato il controllo di posizione dell'attuatore, al fine di ottenere un soddisfacente inseguimento del riferimento di posizione. Un buon controllo dell'attuatore è infatti indispensabile per ottenere risultati soddisfacenti nel controllo della dinamica verticale. Successivamente sono stati analizzati e applicati sul veicolo due algoritmi di controllo semi-attivo. Entrambe le logiche sono state verificate tramite diversi test sulla mountain bike. Gli algoritmi di controllo implementati sono stati Skyhook e Acceleration Driven Damping, maggiormente efficaci rispettivamente a basse ed alte frequenze. Questi algoritmi di controllo sono stati sviluppati soprattutto in ambito automobilistico, ed è stato verificato il loro corretto funzionamento su un diverso veicolo. Infatti i risultati ottenuti sono stati pienamente soddisfacenti ed in linea con le aspettative. Prima di questo lavoro nessuno di questi algoritmi semi-attivi era mai stato testato su di una mountain bike.
Analisi e sviluppo di un sistema di controllo di una sospensione semi-attiva per mountain bike
BELLOTTI, MICHELE;ROLA, GIACOMO
2018/2019
Abstract
The aim of this thesis is the implementation on the vehicle of a control system of an electro-hydraulic semi-active suspension for mountain bikes. In recent years the market for high range bicycles has been growing very rapidly. The demand for new technologies that increase performance more and more, both in the sports and recreational fields, is accordingly raising. Semi-active suspensions have already proved their effectiveness on many other vehicles, especially automobiles, and could give a significant contribution to comfort and performances on a top-class mountain-bike. In this thesis, the position control of the actuator was initially developed, in order to obtain a satisfactory tracking of the position reference. Indeed a good control of the actuator is crucial to obtain satisfactory results in the control of vertical dynamics. Two semi-active control algorithms were then analyzed and applied on the vehicle. Both logics have been verified through several mountain bike tests. The control algorithms implemented were Skyhook and Acceleration Driven Damping, most effective at low and high frequencies respectively. These control algorithms were developed mainly in the automotive sector, and their use on a different vehicle was verified. Actually the results obtained were fully satisfactory as expected. Before this work none of these semi-active algorithms had ever been tested on a mountain bike.| File | Dimensione | Formato | |
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2020_04_Rola_Bellotti.pdf
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https://hdl.handle.net/10589/165404