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Integrated vehicle chassis control based on direct yaw moment, active steering and active stabiliser

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In order to coordinate steering, braking/traction and active stabiliser, an integrated vehicle chassis controller is proposed. The controller is realised via a main/servo-loop structure: in the main-loop, stabilising forces/moments are first calculated using robust sliding mode controller; then in the servo-loop, the stabilising forces/moments are optimally distributed to tyre control inputs, i.e. active steering and wheel torques. To reduce body roll angle and assist to track the desired yaw rate, active stabilisers are further integrated. Through open-loop and closed-loop simulations using Matlab/SimulinkĀ® and MSC CarSimĀ®, it is verified that the controller can significantly improve vehicle handling performances and ride in comfort in the meantime.

Keywords: active stabiliser; active steering; direct yaw moment control; tyre nonlinearities; vehicle dynamics

Document Type: Research Article


Affiliations: State Key Laboratory of Mechanical System and Vibration, Institute of Automotive Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, Minhang, Shanghai, PR China

Publication date: 2008-09-01

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