Abstract
This research presents an integration of two control systems, an active tilting controller and a full-wheel steering controller. This integration improves vehicle lateral performances by enhancing road-holding capability, lateral stability, and safety simultaneously. The active tilting controller utilizes an active mass shift to evenly distribute the vertical load at each suspension, and boost road-holding capability. On the other hand, the full-wheel steering controller adjusts rear steering angles to use lateral force at each ground-tyre contact point and amplify the vehicle’s ability to follow the desired yaw rate and global sideslip angle during cornering maneuvers. Considering the improved road-holding capability and the coupling effect of body attitude motion and yaw motion, the two controllers in combination produce a synergistic effect on ride comfort, maneuverability and safety, and improve overall lateral performance. A 7-degree-of-freedom (DOF) linear full car model is used in designing the active tilting controller, while a 2-DOF bicycle model considering the attitude motion of the car body is used in designing a full-wheel steering controller. A 14-DOF complex nonlinear full car model that can truly reflect 6-DOF car body motion is applied to verify the performance of the proposed collaborative system. The simulation results show that the system represents a better lateral stability and steering response in intense driving while ensuring the better heading directivity of the vehicle.
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Abbreviations
- m :
-
vehicle sprung mass kg
- J x, J y, J z :
-
roll, pitch, yaw inertia kg·m2
- g :
-
gravitational acceleration m/s2
- a, b :
-
distance of eg from right/left side m
- c, d :
-
distance of e.g. from front and rear side m
- h r :
-
height from roll center to e.g. of car body m
- l f, l r :
-
initial length of front and rear suspension m
- l si :
-
dynamic displacement of suspension m
- k i :
-
suspension spring stiffness kN/m
- b i :
-
suspension damping coefficient N s/m
- ϕ n, θ n, ψ n :
-
roll, pitch, and yaw angle of the car body rad
- ω x, ω y, ω z :
-
roll, pitch and yaw angular velocity of car body rad/s
- u, v, w :
-
longitudinal, lateral and vertical velocity of the car body m/s
- F xgsi, F ygsi, F zgsi :
-
longitudinal/lateral/vertical force at the tyre contact patch N
- F xsi, F ysi, Fzsi :
-
longitudinal/lateral/vertical force acting at the mounting point of car body N
- m ui :
-
wheel mass kg
- J wi :
-
tyre rotational inertia kg·m2
- k ti :
-
tyre spring stiffness kN/m
- C λi, C αi :
-
longitudinal, later stiffness kN/rad
- r io :
-
steady tyre radius m
- r i :
-
dynamic tyre radius m
- λ i :
-
longitudinal slip coefficient
- α i :
-
sideslip angle of tyre rad
- F xti, F yti :
-
longitudinal, lateral tyre force n
- ω i :
-
tyre rotational angular velocity rad/s
- δ i :
-
steering angle of the wheel rad
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Liang, W., Ahmac, E., Khan, M.A. et al. Integration of Active Tilting Control and Full-Wheel Steering Control System on Vehicle Lateral Performance. Int.J Automot. Technol. 22, 979–992 (2021). https://doi.org/10.1007/s12239-021-0088-1
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DOI: https://doi.org/10.1007/s12239-021-0088-1