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Investigation of Vehicle Stability by Integration of Active Suspension, Torque Vectoring, and Direct Yaw Control
Abstract:
In this article, the integrated vehicle stability control strategy by a
combination of active suspension (AS), torque vectoring control (TVC), and
direct yaw control (DYC) is proposed to investigate the improvement of vehicle
stability. By considering the differences of control targets for variable
vehicle subsystems, the proposed strategy includes the three levels of
hierarchical structure to coordinate these vehicle subsystems for optimal
functions in relation to the vehicle subsystems. At the upper level, the vehicle
estimates the posture and dynamic state. At the middle level of the structure,
the method of coordination is introduced. Furthermore, the designed AS is based
on H∞ logic theory. The TVC design is based on the principle of indirect yaw
moment theory, and the DYC design is based on linear quadratic regulator (LQR)
control algorithm are demonstrated at the lower level. In order to verify the
control effect, the MATLAB/Simulink platform is used for the establishment of
the model and simulation. Comparison between the simulation results and
experimental results illustrate that the proposed integrated AS/TVC/DYC control
system is preferred over the uncontrolled system.