Hardware in the Loop Testing of Adaptive Inertia Weight PSO-Tuned LQR Applied to Vehicle Suspension Control

Table 1

Quarter-car active suspension system plant parameters.

Symbol	Description	Value
	Sprung mass	2.45 kg
	Unsprung mass	1 kg
	Suspension damping constant	7.5
	Tire damping constant	5
	Suspension stiffness constant	490 N/m
	Tire stiffness constant	1020 N/m
—	Suspension travel range	3.8 ×  m
—	Accelerometer sensitivity	9.81
—	Suspension encoder resolution	942 ×  m/count
—	Suspension motor torque constant	0.115 N-m/A