~.AeTheEngineering Society~ ForAdvancing Mobility~ LandSeaAirandSpace® 400COMMONWEALTH DRIVEWARRENDALE.PA 15096 echniI mrerles 881133 TheDesignandDevelopment ofaSemi­ activeSuspension foraMilitaryTank LaneR.MillerandCharlesM.Nobles LordCorporation FutureTransportation Technology Conference andExposition SanFrancisco, California August8·11,1988Downloaded from SAE International by University of British Columbia, Sunday, August 19, 2018Theappearance ofthecodeattheboltomofthefirstpageofthispaperindicates SAE'sconsentthatcopiesofthepapermaybemadelorpersona! orinterneIuse,or forthepersonal orinternaluseofspecificclients.Thisconsent isgivenonthecon~ dition.however, thatthecopierpaythestatedperarticlecopyfeethrough the Copyright Clearance Center,Inc.,Operations Center,P.O.Box765,Schenectady, N.Y.12301,forcopying beyondthatpermitted bySections 107or108oftheU.S. Copyright Law.Thisconsent doesnotextendtootherkindsofcopying suchas copying forgeneral distribution, foradvertising orpromotional purposes, for crealing newcollective works,orforresale. Paperspublished priorto1978mayalsobecopiedalaperpaperfeeof$2.50 undertheabovestatedconditions. SAEroutinely stocksprintedpapersforaperiodofthreeyearsfollowing dateof publication. DirectyourorderstoSAEOrdp.rDepartment. Toobtainquantity reprintrates.permission toreprintatechnical paperorper~ mission 10usecopyrighted SAEpublications inotherworks.contact theSAE Publications Division. AllSA!pace,sa,e abWdCled dnamde.ed In meSAtGlobo!Motl,My OJldbdSe SAEGLOBAL MOBILlTV DATABASE Nopartofthispublication maybereproduccd inanyform,in anelectronic retrievalsystcmorotherWise, withouttheprior writtcnpermission ofthepublishcr. ISSN0148· 7191 Copyright ©1988SocietyofAutomotive Engineers, Inc. Positions andopinions advanced Inthispaperarethoseof theauthor(s} andnotnecessarily thoseofSAE.Theauthor issolelyresponsible forthecontentofthepaper.Aprocess Isavailable byWhichdiscussions willbeprintedwiththe paperIfitIspublished InSAETransactions. Forpermission topublishthispaperInfUllorinpart,contacttheSAE Publications Division.Persons wishingtosubmitpaperstobeconsidered for presentation orpublication throughSAEshouldsendthe manuscript ora300wordabstractofaproposed manus~ crlptto:Secretary, Engineering ActivityBoard,SAE. PrintedInU.S.A.Downloaded from SAE International by University of British Columbia, Sunday, August 19, 2018881133 TheDesignandDevelopment ofaSemi= activeSuspension foraMilitaryTank LaneR.MillerandCharlesM.Nobles LordCorporation x'1",,¥":LL.L.Lf"J X2K ~4Y~A':CC~T~'V~Ee=S:::U~S"'P'ENS ION WITHPASSIVE SPRING (d)X'll<LLL<"fLLL"-" x2 FU~A.o;C",T~1V'o:E~SC"U"'S~PE::'N'S ION WITHNOPASSIVE ELEMENTS (b)X'l""¥":LL.L.Lf"J x2K W~O~N'C'V~ENC:T"":::'ONOCA~L";'.SOOF SUSPENSION (6)thesemi-active suspension system requires verylittlepower. Semi-active primary suspensions consist ofaspringinparallel withadevicecalledanactivedamper. Work continues todevelop bothfullyactiveand semi-active suspensions intoproducts for commercial use. Fig.ISixvariations ofanSDOFsuspension .REALTIME X,L Xl~ SWITCHINGT T BETWEEN X REALTIME AHIGH\ 2K f"MODULATION X2K f-ANDlOWJOfDAMPINGJ DAMPING W W COEffiCIENT CONTINUOUS SEMI-ACTIVE ON/OFFSEMI-ACTIVE SUSPENSION SUSPENSION (0) (f)x'll'LLLL~= X2 K S~Y~%OK~OA~M~P?;:E"'RS!S~U~SPENS ION APASSIVE CONFIGURATION OF ANOPTIMAL SUSPENSION (c)ABS1RACT PRIMARY SUSPENSION SYSTEMS probably found theirinitialapplication whenthewheelwas firstusedasameansfortransportation. Sincethattime,manyinnovations havebeen developed to'improve bothsprings and dampers (shockabsorbers). Workonfully active suspension systems beganinthe 1960's[I,2]*.Thesesystems arecomposed ofhydraulic servoactuators, controllers and sensors, andconsume largeamounts ofpower [3].Earlyinthe1970's,initialworkonsemi­ activesuspensions wasintroduced [4,5,6]. Thesesystems areverysimilartofullyactive suspension systems, withtheexception thatThispaperdescribes thefundamental concepts ofsemi-active control, andthe development andtesting ofasemi-active s