Since the suspension geometry is adopted from a current
upperclass vehicle and thus a very realistic set-up is
employed, several nonlinear effects act on the system. In
particular, due to the inclined assembly of the suspension
unit, the kinematic transmission factor changes linearly with
the suspension deflection, [12]. Moreover, the primary spring
is appended by additional buffers, which means that the
resulting spring force characteristic changes from linear
to progressive when approaching the suspension deflection
limits. For controller design and simulation purposes the
suspension used at the test rig has been identified experimentally
and modeled accordingly, where the dominant nonlinear
effects mentioned above and coulomb friction have been
taken into account.
Since the suspension geometry is adopted from a currentupperclass vehicle and thus a very realistic set-up isemployed, several nonlinear effects act on the system. Inparticular, due to the inclined assembly of the suspensionunit, the kinematic transmission factor changes linearly withthe suspension deflection, [12]. Moreover, the primary springis appended by additional buffers, which means that theresulting spring force characteristic changes from linearto progressive when approaching the suspension deflectionlimits. For controller design and simulation purposes thesuspension used at the test rig has been identified experimentallyand modeled accordingly, where the dominant nonlineareffects mentioned above and coulomb friction have beentaken into account.
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