期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 69, 期 2, 页码 1388-1403出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2019.2955902
关键词
Axles; Force; Tires; Load modeling; Suspensions; Control systems; Feedforward systems; Anti-roll moment distribution control; load transfer; linearized model; quasi-static model; yaw rate control; feedforward; feedback
资金
- European Union through the Horizon 2020 Programme [734832]
In vehicle dynamics, yaw rate control is used to improve the cornering response in steady-state and transient conditions. This can be achieved through an appropriate anti-roll moment distribution between the front and rear axles of a vehicle with controllable suspension actuators. Such control action alters the load transfer distribution, which in turn provokes a lateral tire force variation. With respect to the extensive set of papers from the literature discussing yaw rate tracking through active suspension control, this study presents: i) A detailed analysis of the effect of the load transfer on the lateral axle force and cornering stiffness; ii) A novel linearized single-track vehicle model formulation for control system design, based on the results in i); and iii) An optimization-based routine for the design of the non-linear feedforward contribution of the control action. The resulting feedforward-feedback controller is assessed through: a) Simulations with an experimentally validated model of a vehicle with active anti-roll bars (case study 1); and b) Experimental tests on a vehicle prototype with an active suspension system (case study 2).
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