Active suspension control of ground vehicle based on a full-vehicle model

Ikenaga, Satoshi; Lewis, Frank L.; Campos, J.; Davis, L. C.

doi:10.1109/acc.2000.876977

Cited by 121 publications

(82 citation statements)

References 5 publications

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“…For simplicity, all pitch and roll angles are assumed to be small. This similar model was used by Ikenaga et al (2000). The handling model employed in this paper is also a 7-DoF system which takes into account 3-DoF for the vehicle body in lateral and longitudinal motions including yaw motion and 1-DoF due to the rotational motion of each tire.…”

Section: Vehicle Modelmentioning

confidence: 99%

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

Amir¹,

Samad

2016

Int. j. adv. appl. sci

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Field test approach of steer-by-wire (SBW) technologies by using actual vehicle can be very dangerous. This is due to the fact that stability of the vehicle is very sensitive to the steering wheel input. Less optimum parameters of the steering controllers or system failure may lead to dangerous road accident. In this study, hardware-in-the-loop simulation (HiLS) is used to bridge the gap between simulation and experimentation of SBW system. In the proposed HiLS system, SBW test rig is set up to communicate in real time with 14 degree-of-freedom vehicle model. Proportional-integral-derivative control optimized with Ziegler-Nichols method is used to control the stepper motor of the SBW test rig. From simulation and experimental results, SBW system developed has the ability to closely follow the steering trajectory of the conventional steering system with acceptable errors. By using HiLS, both controller algorithm and the functionality of the steering actuator of SBW system can be tested in a semireal driving condition as preliminary testing.

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Section: Vehicle Modelmentioning

confidence: 99%

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

Amir¹,

Samad

2016

Int. j. adv. appl. sci

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“…It is assumed that the damping of the tires is viscous; thus, the damping force is: F ucij =c usi _ usij (i=f; r; j =r; l); (8) where c usi is the viscous damping coe cient, and _ usij is the relative velocity of the extremes of the tire model. The sinusoid forcing function is used to describe the excitations caused by the road surface.…”

Section: Mathematical Modelmentioning

confidence: 99%

“…system) as a two-wheel (front and rear) one is used to study heave and pitch motions with the de ection of tires and suspension [5][6][7]. A more complex model is the full vehicle one that is a 3-D model with seven degrees of freedom that can be used for studying heave, pitch, and roll motions [8]. Therefore, this model has a more accurate dynamic response than those of the other two.…”

Section: Introductionmentioning

confidence: 99%

Chaotic behaviors of a ground vehicle oscillating system with passengers

2017

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Abstract. In this paper, some considerations regarding a ground vehicle oscillating system based on chaotic behaviors are studied. The vehicle system is modeled as a full nonlinear seven-degree freedom with an additional degree of freedom for each passenger. Roughness of the road surface is considered as sinusoidal waveforms with time delays for the tires. The governing di erential equations are extracted under Newton-Euler laws and solved via numerical methods. The dynamic behavior of the system is investigated by special nonlinear techniques such as bifurcation diagram, time series, phase plane portrait, power spectrum, Poincar e section, and maximum Lyapunov exponents. The time delays between the tires are used as a control parameter. First, the vehicle behavior is investigated and the chaotic regions are detected. Then, the damping and sti ness coe cients are used to return to the regular behavior. Results show that by changing the system parameters and selecting the appropriate values, one can minimize vibrations as well as eliminate chaotic behavior. The comparison of the results obtained from the proposed model and those from the vehicle without passengers show the great di erences in the dynamic behaviors of the two models.

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“…Another methodology uses a full-vehicle model to directly control both the vertical motion (heave) and the angular motion (pitch and roll) of the vehicle body [9,10]. The advantage of this methodology is that a control strategy can be designed that effectively controls the attitude of the sprung mass and suppresses the vibration of the suspension.…”

Section: Introductionmentioning

confidence: 99%

“…As the aim of the suspension is to control the acceleration felt by the passengers, this acceleration should be considered at the vehicle's center of gravity and not over the wheels. Thus, the control of the body posture may be inadequate.Another methodology uses a full-vehicle model to directly control both the vertical motion (heave) and the angular motion (pitch and roll) of the vehicle body [9,10]. The advantage of this methodology is that a control strategy can be designed that effectively controls the attitude of the sprung mass and suppresses the vibration of the suspension.…”

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confidence: 99%

Lateral stability control based on the roll moment distribution using a semiactive suspension

Yao

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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Abstract.A semi-active suspension design based on the traditional method of skyhook control is not capable of effectively controlling the attitude of the vehicle. However, an innovative approach called decoupling skyhook control allows the attitude of the vehicle body and its vibration characteristics to be effectively controlled. In this paper, a new decoupling skyhook controller for semi-active suspension is presented. Vehicle body motions in the three directions of vertical, pitch, and roll have been adopted to develop three skyhook controllers and directly control the vehicle body attitude. Furthermore, three orientation skyhook control forces are converted into actual damping forces of four adjustable dampers through the input decoupling transformation. The simulation results show that the developed controller is more effective than the traditional skyhook control in improving ride comfort.Keywords: Skyhook control, Input decoupling, Semi-active suspension. IntroductionSince the skyhook control scheme was introduced in the early 1970s by D. Karnopp, this method has been used in many vibration isolation applications [1]. In active and semi-active suspension control, the skyhook control scheme is an extremely effective control strategy and has been used in some commercial applications. Moreover, the skyhook scheme is often used as the reference model for other control strategies because of its simplicity and its prominent effect in improving ride comfort [2][3][4].To develop the semi-active control algorithm for a full-vehicle system, two different methodologies can be used [5]. One methodology uses the quarter car model to develop the control algorithm, which is then implemented in a full vehicle model for controlling and analysis [6][7][8]. However, this methodology does not directly consider the pitch and roll motions of the vehicle. Furthermore, four accelerometers on the four corner points of the sprung mass are usually used to design controllers. As the aim of the suspension is to control the acceleration felt by the passengers, this acceleration should be considered at the vehicle's center of gravity and not over the wheels. Thus, the control of the body posture may be inadequate.Another methodology uses a full-vehicle model to directly control both the vertical motion (heave) and the angular motion (pitch and roll) of the vehicle body [9,10]. The advantage of this methodology is that a control strategy can be designed that effectively controls the attitude of the sprung mass and suppresses the vibration of the suspension. In [9], three fuzzy controllers are designed to produce three forces z f ,  f and  f to suppress the heave, pitch, and roll

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Active suspension control of ground vehicle based on a full-vehicle model

Cited by 121 publications

References 5 publications

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

Chaotic behaviors of a ground vehicle oscillating system with passengers

Lateral stability control based on the roll moment distribution using a semiactive suspension

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