Abstract
ABSTRACTIn this article a novel vehicle dynamics control concept is designed for a vehicle equipped with wheel individual electric traction machines, electronically controlled brakes and semi-active suspensions. The suspension's cross-couplings between traction forces and vertical forces via anti-dive and anti-squat geometry is utilised in the control concept to improve driving comfort and driving stability. The control concept is divided into one main and two cascaded branches. The main controller consists of a multivariable vehicle dynamics controller and a control allocation scheme to improve the vehicle's driving comfort. The cascaded feedback loops maintain the vehicle's stability according to wheel slip and vehicle sideslip. The performance of the combined vehicle dynamics controller is compared to a standard approach in simulation. It can be stated that the controller piloting semi-active suspensions together with brake and traction devices enables a superior performance regarding comfort and stability.
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