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International Journal of Automotive Technology 2006;7(7): 803-812. |
| Integrated Vehicle Chassis Control with a Main/SERVO-Loop Structure |
| D. LI, X. SHEN, F. YU |
| Shanghai Jiao Tong University |
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| ABSTRACT |
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In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-loop, in order to achieve satisfactory longitudinal, lateral and yaw response, a sliding mode controller is used to calculate the desired longitudinal, lateral forces and yaw moment of the vehicle; and in the servo-loop, a nonlinear optimizing method is adopted to compute the optimal control inputs, i.e. wheel control torques and active steering angles, and thus distributes the forces and moment to four tire/road contact patches. Simulation results indicate that significant improvement in vehicle handling and stability can be expected from the proposed chassis control integration. |
| Key Words:
Vehicle dynamics, Chassis control integration, Longitudinal slip ratio control, Four wheel steering, Direct yaw moment control, Tire nonlinearities |
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