Improving the Comfort of the Vehicle Based on Using the Active Suspension System Controlled by the Double-Integrated Controller

Table 1

Specific parameters of the vehicle.

Description	Symbol	Value	Unit
Sprung mass	m1	400	kg
Unsprung mass	m2	45	kg
Spring coefficient	K	25 × 10^3	N/m
Tire coefficient	KT	150 × 10^3	N/m
Damper coefficient	C	2.2 × 10^3	Ns/m
Actuator coefficient	σ1	4.5 × 10^13	N/m^5
Actuator coefficient	σ2	1	s^−1
Actuator coefficient	σ3	1.5 × 10^9	N/kg^1/2m^5/2
Time constant	τ	2.5 × 10^−3	s
Piston cross-sectional area	Sp	3.5 × 10^−4	m^2
Supply pressure	Ps	1056240	N/m^2
Servo valve gain	ksv	1 × 10^−3	m/V