Abstract
In this article, a Linear Quadratic Regulator (LQR) lateral stability and rollover controller has been developed including as the main novelty taking into account the road bank angle and using exclusively active suspension for both lateral stability and rollover control. The main problem regarding the road bank is that it cannot be measured by means of on-board sensors. The solution proposed in this article is performing an estimation of this variable using a Kalman filter. In this way, it is possible to distinguish between the road disturbance component and the vehicle’s roll angle. The controller’s effectiveness has been tested by means of simulations carried out in TruckSim, using an experimentally-validated vehicle model. Lateral load transfer, roll angle, yaw rate and sideslip angle have been analyzed in order to quantify the improvements achieved on the behavior of the vehicle. For that purpose, these variables have been compared with the results obtained from both a vehicle that uses passive suspension and a vehicle using a fuzzy logic controller.
Highlights
Rollover in heavy duty vehicles is one of the kinds of accidents with worse consequences for passengers
A quantitative comparison between the effectiveness of different controllers and the proposed system in different environments is shown in Section 6, including lateral load transfer, roll angle, yaw rate and sideslip angle
In order to be able to develop a system that controls both lateral and roll dynamics of the vehicle taking into account the effect of the road bank, it is necessary to use a vehicle model that allows identifying vehicle roll angle and road bank as separate variables
Summary
Rollover in heavy duty vehicles is one of the kinds of accidents with worse consequences for passengers. In [7,8], a Unified Chassis Control (UCC) system is designed to prevent rollover using a rollover index and a model-based roll state estimator These systems have a two-level control structure, including actuation on both suspension and the steering and braking systems. In [14], a lateral and rollover stability controller was designed that mitigates the effect of delay in active braking actuation systems. One major drawback of the mentioned approaches is that the main function of braking or steering systems is not to prevent rollover This is why active suspension can play an important role in this issue as its primary function is to ensure roll stability. A quantitative comparison between the effectiveness of different controllers and the proposed system in different environments is shown in Section 6, including lateral load transfer, roll angle, yaw rate and sideslip angle
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