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

Existing control schemes which distribute the roll moment by employing the ratio of the damping force of the front axle to the damping force of the rear axle using a semiactive suspension lack a theoretical foundation. Given that a new variable-stiffness variable-damping system configuration may require adjustment of only the damping force of a variable damper, this study considers an ordinary magnetorheological damper semiactive suspension itself as equivalent to a variable-stiffness variable-damping suspension system. The configuration of the semiactive suspension does not need any modifications. A novel control strategy is presented to control the stiffness of the suspension to distribute the roll moment between the front axle and the rear axle, and to regulate the damping force of the suspension to control the attitude of the vehicle body. This strategy considers neutral steering as the control target and minimizes the body accelerations in three directions. A nonlinear controller for the roll moment distribution and three fuzzy controllers for control of the attitude of the vehicle body are designed. The roll moment distribution coefficient is combined with three output control forces from the fuzzy controllers. Using decoupling calculations, the control forces in three directions are decoupled into four control forces generated by four magnetorheological dampers. The simulation results demonstrate that the proposed control strategy can achieve a favorable handling stability while maintaining an acceptable ride comfort.

[1]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[2]  Hiroshi Matsuhisa,et al.  Semi-active vibration isolation system with variable stiffness and damping control , 2008 .

[3]  Hiroshi Matsuhisa,et al.  Vibration Control by a Variable Damping and Stiffness System with Magnetorheological Dampers , 2006 .

[4]  Wassim M. Haddad,et al.  Active suspension control to improve vehicle ride and handling , 1997 .

[5]  Weihua Li,et al.  A variable stiffness MR damper for vibration suppression , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[6]  Carlo Bisaglia,et al.  Performance analysis of semi-active suspensions with control of variable damping and stiffness , 2011 .

[7]  Wenli Xu,et al.  Integrated vehicle ride and steady-state handling control via active suspensions , 2006 .

[8]  X Z Zhang,et al.  Variable stiffness and damping MR isolator , 2009 .

[9]  S. Diop,et al.  An improved active suspension yaw rate control , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[10]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[11]  Seung-Bok Choi,et al.  Integrated control on MR vehicle suspension system associated with braking and steering control , 2011 .

[12]  Kihong Park,et al.  Development of Hardware-in-the-Loop Simulation System for Use in Design and Validation of VDC Logics , 2003 .

[13]  Aleksander B. Hac,et al.  Closed Loop Yaw Control of Vehicles Using Magneto-Rheological Dampers , 2000 .

[14]  Flavio Nardi,et al.  Integrated Ride and Roll Control Using a Rotary Magneto-Rheological Damper , 2010 .

[15]  Liang Shen,et al.  A novel semi-active suspension design based on decoupling skyhook control , 2014 .

[16]  Masato Abe,et al.  Vehicle Handling Dynamics: Theory and Application , 2009 .

[17]  Wassim M. Haddad,et al.  Nonlinear control of roll moment distribution to influence vehicle yaw characteristics , 1995, IEEE Trans. Control. Syst. Technol..

[18]  Mehdi Ahmadian,et al.  Improving the capacity of tire normal force via variable stiffness and damping suspension system , 2013 .

[19]  Mehdi Ahmadian,et al.  Improving Vehicle Lateral Stability Based on Variable Stiffness and Damping Suspension System via MR Damper , 2014, IEEE Transactions on Vehicular Technology.

[20]  Hiroshi Matsuhisa,et al.  Variable Damping and Stiffness Vibration Control with Magnetorheological Fluid Dampers for Two Degree-of-Freedom System , 2006 .

[21]  Georg Rill,et al.  Road Vehicle Dynamics: Fundamentals and Modeling , 2011 .

[22]  S. Diop,et al.  DEVELOPMENT OF A FULL ACTIVE SUSPENSION SYSTEM , 2002 .

[23]  I. Youn,et al.  Semi-active suspensions with adaptive capability , 1995 .