Hardware-in-the-loop test setup for tuning semi-active hydraulic suspension systems

Heikki Lu, Elisa Alboni, Ville Björklund, Matti Lin, Jyrki Kajaste, Panu Kiviluoma, Petri Kuosmanen

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review


Suspension is an important vehicle system because it provides steering stability with good handling and comfort in d ifferent road conditions. Among the various types of suspension system, semi-active hydraulic suspension systems are becoming increasingly popular since they require minimal energy to be driven while offering very good performance compared to other solutions. The damping coefficient of semi-active dampers can be varied by adjusting the spool inside the proportional valve. To obtain the desired performance and damping force, a proper control system should be created and tested. However, currently testing and tuning suspension systems are time consuming and expensive and software-only simulations are not very accurate due to phenomena like fiction and hysteresis. This study proposes a light and cost-effective single board computer (SBC) based hardware-in-the-loop (HIL) simulation test setup for testing and tuning semi-active suspension systems. Another goal for test setup is improving usability of control units of HIL systems. The hydraulic test bench was built and tested by driving it through Raspberry Pi (RPi). The necessary signal processing circuits were developed and tested separately from the system. The IoT capabilities of the RPi were also validated by uploading and running Simulink model on the board and tuning model pa rameters during control system simulations.
Original languageEnglish
Title of host publicationProceedings of the 5th Baltic Mechatronics Symposium
PublisherAalto University School of Engineering
Number of pages6
ISBN (Electronic)978-952-64-9603-0
Publication statusPublished - 2020
MoE publication typeA4 Conference publication
EventBaltic Mechatronics Symposium - Espoo, Finland
Duration: 17 Apr 202017 Apr 2020


ConferenceBaltic Mechatronics Symposium


  • single board computer
  • Raspberrry Pi
  • Simulink
  • real-time system
  • simulation


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