Active Anti-roll Control of Vehicle Based on Active Suspension
To improve the roll motion safety of vehicle roll while not reducing the comfort of vehicles,an anti-roll control method of vehicles based on active suspension of active disturbance rejection(ADR)con-trol was proposed.A two-degree-of-freedom steering model and a seven-degree-of-freedom suspension model are established.The extended state observer(ESO)was used to estimate the vehicle states and disturbance,and the disturbance is dynamically compensated and tracked to the desired roll angle.The gain matrix of ac-tive suspension force is obtained by solving the generalized inverse matrix,and the active anti-roll control for vehicles is realized through the controlling active suspension.The controller established in MATLAB/Simulink control the CarSim vehicle model for double lane change test and fishhook test.Under the double lane change test,compared with uncontrolled vehicles,maximum of roll angle,roll angle acceleration and lateral load transfer rate(LTR)of the active anti-roll control vehicle decrease by 62.55％,71.03％and 13.82％,respectively.Under the fishhook test,these indicators are reduced by 77.03％,71.55％and 12.19％,respectively.The simulation results show that the proposed anti-roll control method can effectively improve the anti-rolling ability of the vehicle when steering.
active suspensionanti-rollADR controlactive front steering
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