Integrated Attitude Motion and Stability Control of a Vehicle via Active Suspension and Four-Wheel Steering Control Systems

Paper #:
  • 2017-01-0257

Published:
  • 2017-03-28
Abstract:
This research focuses on an integration of body tilting controller and rear wheel steering controller to improve military ground vehicle performances in terms of safety, steering sensitivity, road holding capability, lateral stability and ride comfort. An active body tilting controller allows the car body to tilt against the direction of centrifugal force so as to eliminate unpleasant lateral acceleration for ride comfort and balance left and right vertical tire forces for road holding capability. Due to the balanced vertical tire forces, the tilting controller also has a great potential to enhance steering sensitivity and lateral safety in cornering maneuvers. In order to get additional improvement of the lateral stability and safety, an active steering controller is used which controls the rear wheels to follow desired yaw rate and sideslip angle of vehicle as much as close. By using the combination, the proposed integrated system will enhance cornering maneuvers more, especially lateral safety. A 14 degree-of-freedom (DOF) nonlinear full car model is used to evaluate performances of the integrated control system. 6-DOF of the car body are described as longitudinal, lateral, vertical, roll, pitch and yaw motion. Only 2-DOF of each wheel are considered to evaluate wheel rotational and vertical motion. A simplified linear 7-DOF full car model and a 2-DOF bicycle model are utilized for the design of two separate controllers. The optimal control gains which are derived from the two linear models are applied to the 14-DOF nonlinear model which works together for the motion of suspension and steering wheel systems and is more close to actual vehicle. The integrated performances of the controllers are analyzed through MATLAB software.
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