Integrated control of active suspension system and electronic stability programme using hierarchical control strategy: theory and experiment

Authors: Xiao, Hansong¹; Chen, Wuwei²; Zhou, HuiHui²; Zu, Jean¹

Source: Vehicle System Dynamics, Volume 49, Numbers 1-2, January 2011 , pp. 381-397(17)

Publisher: Taylor and Francis Ltd

Abstract:

Integrated vehicle dynamics control has been an important research topic in the area of vehicle dynamics and control over the past two decades. The aim of integrated vehicle control is to improve the overall vehicle performance including handling, stability, and comfort through creating synergies in the use of sensor information, hardware, and control strategies. This paper proposes a two-layer hierarchical control architecture for integrated control of the active suspension system (ASS) and the electronic stability programme (ESP). The upper-layer controller is designed to coordinate the interactions between the ASS and the ESP. While in the lower layer, the two controllers including the ASS and the ESP are developed independently to achieve their local control objectives. Both a simulation investigation and a hardware-in-the-loop experimental study are performed. Simulation results demonstrate that the proposed hierarchical control system is able to improve the multiple vehicle performance indices including both the ride comfort and the lateral stability, compared with the non-integrated control system. Moreover, the experimental results verify the effectiveness of the design of the hierarchical control system.

Keywords: integrated vehicle dynamics control; hierarchical control; active suspension system; electronic stability programme

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00423111003602384

Affiliations: 1: Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada 2: School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei, People's Republic of China

Publication date: 2011-01-01

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