Abstract
In the process of vehicle chassis electrification, different active actuators and systems have been developed and commercialized for improved vehicle dynamic performances. For a vehicle system with actuation redundancy, the integration of individual chassis control systems can provide additional benefits compared to a single ABS/ESC system. This paper describes a Unified Chassis Control (UCC) strategy for enhancing vehicle stability and ride comfort by the coordination of four In-Wheel Drive (IWD), 4-Wheel Independent Steering (4WIS), and Active Suspension Systems (ASS). Desired chassis motion is determined by generalized forces/moment calculated through a high-level sliding mode controller. Based on tire force constraints subject to allocated normal forces, the generalized forces/moment are distributed to the slip and slip angle of each tire by a fixed-point control allocation algorithm. Regarding the uneven road, H∞ robust controllers are proposed based on a modified quarter-car model. Evaluation of the overall system was accomplished by simulation testing with a full-vehicle CarSim model under different scenarios. The conclusion shows that the vertical vibration of the four wheels plays a detrimental role in vehicle stability, and the proposed method can effectively realize the tire force distribution to control the vehicle body attitude and driving stability even in high-demanding scenarios.
Highlights
IntroductionElectric or electromechanical systems, featuring energy regeneration capability and fast response, are readily developed and applicated to improve the vehicle dynamics, from the aspects of comfort, stability, safety, maneuverability, and driver’s feeling, especially in adverse driving situations
In order to enhance the driving stability and the overall dynamic performance, a vehicle may be equipped with multi-actuators, which can be classified into three categories as active torque distribution [1], active steering [2], and active suspension control [3]
Mθ and M φ denote the moments generated by the load transfer among vertical tire forces, and we describe this relationship in the form of
Summary
Electric or electromechanical systems, featuring energy regeneration capability and fast response, are readily developed and applicated to improve the vehicle dynamics, from the aspects of comfort, stability, safety, maneuverability, and driver’s feeling, especially in adverse driving situations. In 2003, the active front steering technology was developed and recognized as a supplemental approach to generate desired yaw moment without braking, ensuring enhanced vehicle stability even in high-speed conditions. The differential braking systems reduce the driving speed, which may conflict with the driver’s intention during acceleration scenarios. Concerning this defect, active torque distribution was implemented by two actuation methods: torque vectoring [4] and individual motors
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