Feedforward-type Low-level Control for an Active Seat Suspension Servodrive System

The considered automotive active seat suspension mechatronic unit consists of electric servomotor, spindle, Scott Russell mechanism and the seat itself. The overall active seat suspension control system includes high-level and low-level controllers. The high-level control is responsible for generating the seat force reference, while the low-level control is aimed at delivering this force to the seat. The latter is subject of this paper, and it relies on feedforward compensation of system nonlinearity, inertia, and friction effects. The designed low-level control system is verified through computer simulations, both individually and as a part of the overall system based on linear quadratic-type high-level controller.