Ride Comfort Enhancement using Active Stabilizer -Roll Skyhook Control Design based on Coupled Motion and Wheelbase Filtering-

Paper #:
  • 2018-01-0563

Published:
  • 2018-04-03
Abstract:
The active stabilizer not only controls the roll angle of the vehicle due to steering input, but also improves the riding comfort by reducing the roll vibration caused by the anti phase road surface input. As one of the past researches, the Roll Skyhook control was presented based on the Skyhook theory: It found that there is neither time lag nor phase delay in the controller, but that vibration in all frequency bands can be reduced. However, the time lag such as CAN signal transfer, computation and phase delay of low pass filter can cause undesirable vibration. Consequently, sufficient control effect is not obtained. In order to suppress the influence of the undesirable vibration, we used the wheelbase filtering that causes a frequency at which roll oscillation is minimal. Hence, we appropriately designed control signal filters considering roll-lateral coupled motions and conducted an experiment with an actual vehicle to confirm performance benefit.
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