Global integrated control of vehicle suspension and chassis key subsystems

Abstract

This paper presents a new integrated control methodology for vehicle chassis subsystems associated with controlled suspension, braking system, and steering systems. In order to reflect the practical vehicle better, a non-linear complicated full-vehicle model which includes longitudinal, lateral, and vertical dynamics is established and combined with the modified non-linear tyre model. Then, a main objective-oriented hierarchical control strategy is proposed for global integrated control of chassis subsystems to improve the vehicle performance during different kinds of driving condition. The proposed hierarchical strategy consists of two layers. The upper layer is a system supervisory layer which is used to identify the vehicle states and to assign the task for each controllable subsystem based on their effective regions and the detected state signals of the system. The lower layer is the executive layer interfaced to actuators of the chassis subsystem. In this layer, different controllers which can be switched to a special vehicle state are designed by using fuzzy control and integral sliding-mode control methods. The effectiveness of the proposed control strategy is verified via computer simulations, showing the results of three typical driving conditions.

Keywords

global integrated control chassis subsystem main objective-oriented hierarchical control integral sliding-mode control

Get full access to this article

View all access options for this article.

References

Song

Ahmadian

‘Study of semiactive control algorithms with magneto-rheological seat suspension.’ SAE technical paper 2004–0101648

Choi

S.-B.

Sung

K.-G.

Cho

M.-S.

Lee

Y.-S.

‘The braking performance of a vehicle anti-lock brake system featuring an electro-rheological valve pressure modulator.’

Smart Mater. Structs 16 (4) (2007): 1285–1297

Nagai

Shino

Gao

‘Study on integrated control of active steer angle and direct yaw moment.’

JSAE Rev. 23 (2002): 309–315

Hac

Bodie

‘Impovements in vehicle handling through integrated control of chassis systems.’

Int. J. Veh. Des. 29 (1–2) (2002): 23–50

Harada

‘Analysis of lateral stability with integrated control of suspension and steering systems.’

JSAE Rev. 20 (1999): 465–470

Alleyne

‘Improved vehicle performance using combined suspension and braking force.’ In Proceedings of American Control Conference, Seattle, Washington, DC, USA, June 1995, pp. 1672–1676 (IEEE, New York).

March

Shim

‘Integrated control of suspension and front steering to enhance vehicle handling.’

Proc. IMechE, Part D: J. Automobile Engineering 221 (4) (2007): 377–391 DOI: 10.1243/09544070JAUTO152.

Karbalaei

Ghaffari

Kazemi

‘A new intelligent strategy to integrated control of AFS/DYC based on fuzzy logic.’

Int. J. Mathl, Phys. Engng Sci. 1 (1) (2008): 47–52

Hwang

T. H.

Park

Heo

S.-J.

‘Design of integrated chassis control logics for AFS and ESP.’

Int. J. Automot. Technol. 9 (1) (2008): 17–27

10.

Stone

M. R.

Demetriou

M. A.

‘Modeling and simulation of vehicle ride and handling performances.’. In Proceedings of the 15th IEEE International Symposium on Intelligent control (ISIC 2000), Rio, Patras, Greece, July 2000, pp. 85–90 (IEEE, New York).

11.

Bakker

Nyborg

Pacejka

H. B.

‘Tyre modeling for use in vehicle dynamics studies of automobiles.’ SAE technical paper 870421, 1987.

12.

Shino

Nagai

‘Yaw-moment control of electric vehicle for improving handling and stability.’

JSAE Rev. 22 (2001): 473–480

13.

Borner

Isermann

‘Model-based detection of critical driving situations with fuzzy logic decision making.’

Control Engng Practice 14 (2006): 527–536

14.

Automobile theory, (China Machine Press, Beijing 1995)

15.

Zhao

‘Integrated control of vehicle suspension and steering systems based on grey-fuzzy control algorithm.’. In Proceedings of the International Conference on Mechanical engineering and mechanics, Wuxi, People's Republic of China, 5–7 November 2007, vols 1 and 2, pp. 1930–1934 (ICMEM, Nanjing, People's Republic of China).

16.

Chiang

H.-K.

Tseng

C.-H.

‘Design and implementation of a grey sliding mode controller for synchronous reluctance motor drive.’

Control Engng Practice 12 (2004): 155–163

17.

Buckholtz

K. R.

‘Reference input wheel slip tracking using sliding mode control.’ SAE technical paper, 2002–01-0301, 2002.

18.

Mechanical vibration — road surface profiles — reporting of measured data, (International Organization for Standardization, Geneva 1995)