Designing LQR Controllers for an Active Anti-roll Bar System with a Flexible Frame Model of a Single Unit Heavy Vehicle

Van Tan Vu,Peter Gaspar,Quoc Trung Pham,Oliver Sename,Manh Hung Truong,Van Da Tran

doi:10.3311/pptr.18572

Abstract

Rollover accidents of heavy vehicles often cause serious consequences both in terms of vehicle and environmental damage as well the loss or injury of drivers, passengers and ordinary civilians. Currently, the active anti-roll bar system is considered as the most effective solution in enhancing vehicle roll stability. In this paper, we firstly investigated the role of a flexible frame of a single unit heavy vehicle in the rollover process. This approach is an important step forward in the research of the active anti-roll bar system. Then, the LQR control method is applied in designing controllers for the active anti-roll bar control system with this frame model. The active torque of the anti-roll bar system is considered as the control signal. The simulation results in the frequency and time domains with a double lane change maneuver show that the vehicle’s roll stability is improved by over 30 % compared to a vehicle using a passive anti-roll bar system.

Highlights

The importance of heavy vehicles in terms of economic development is irrefutable and should not be underestimated, there is a necessity to conduct as much research as possible to improve the performance of such vehicles
We firstly investigated the role of a flexible frame of a single unit heavy vehicle in the rollover process
The simulation results in the time and frequency domains showed that the level of roll instability of the vehicle with a flexible frame is more sensitive than considering the rigid frame, which is consistent with the reality of the rollover phenomena for heavy vehicles

Summary

Introduction

The importance of heavy vehicles in terms of economic development is irrefutable and should not be underestimated, there is a necessity to conduct as much research as possible to improve the performance of such vehicles. Keywords active anti-roll bar system, flexible frame, LQR control, rollover, roll stability This paper will concentrate on an active anti-roll bar system with a pair of hydraulic actuators, using torques generated by the actuators as controlled input signals on yaw-roll model with the flexible frame.

Results

Conclusion