| ATTITUDE MOTION CONTROL OF THE ACTIVE SUSPENSION SYSTEM WITH TRACKING CONTROLLER |
| I. YOUN1, L. WU1, E. YOUN1, M. TOMIZUKA2 |
1Gyeongsang National University
2University of California |
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| ABSTRACT |
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This research focuses on the attitude motion controller to improve the ride-comfort and handling capability of a vehicle simultaneously. The attitude tracking controller is designed to let the actual motion of the car body follow the ideally guided value, which is developed conceptually to eliminate lateral and longitudinal forces acting on passengers. The tracking control forces are computed based on the three predicted data proposed for the future ideal roll and pitch motions. In conventional ways, the car body leans outside around sharp turns because of the centrifugal force and it dives forward whenbraking and leans back when accelerating. However, the attitude tracking controller makes the car body skew inside at cornering, squat at braking, and dive at accelerating. Simulations are performed based on a four degree-of-freedom half car model and then the results show the great potential of the proposed approach. |
| Key Words:
Attitude motion, Tracking control, Ride-comfort, Handing capability |
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