Integrated Active Suspension and Anti-Lock Braking Control for Four-Wheel-Independent-Drive Electric Vehicles

Abstract

This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system (ASS) and anti-lock braking system (ABS). First, a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model. Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed. An ASS-ABS integrated control system is proposed, utilizing an H∞ controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation. Finally, the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop (HIL) test platform. The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.