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Communication Dans Un Congrès Année : 2012

A LPV suspension control with performance adaptation to roll behavior, integrated in a global vehicle dynamics control strategy

Résumé

This paper is concerned with an integrated vehicle dynamic control using different kind of actuators. The new and very interesting trends in vehicle dynamic control are to synthesize multivariable controllers using LPV/H∞ framework, see [1]. A new strategy for global chassis control is proposed using a smart coordination between the front/rear active steering actuators and four active suspension ones in order to improve vehicle handling and ride performances. This control is achieved in the LPV/H∞ robust control framework, which allows activating appropriately the steering controllers and performs suitable combination with the suspension control depending on some varying parameters. First the use of front and rear steering actuators is of great interest to control the yaw rate, and to maintain a low side-slip angle in order to keep the vehicle stability (without using the braking systems that would reduce the vehicle speed). On the other hand the suspension control is adapted simultaneously (for each of the four active dampers) in order to ensure the passenger comfort in normal situations and, in the case of critical driving situations, to improve the road handling performances. In particular the objectives will be to mitigate the influence of the road profile (stochastic), to reduce the effects of load transfers, and to minimize the roll angle. A specific stability monitor based on the vehicle side-slip measurement provides the scheduling parameter which enables the active steering control when a dangerous situation appears. This new kind of scheduling strategy permits smooth control actions between the suspension and steering systems. The interesting side effect concerns the prevention of the car skidding behavior that would appear using active braking systems (due to possible high braking torques). Simulations on a full non-linear vehicle model, subject to dangerous driving situation, reveals the satisfactory improvements on the vehicle handling performance, stability and robustness of the proposed LPV/H∞ control strategy .

Domaines

Automatique
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Dates et versions

hal-00764636 , version 1 (13-12-2012)

Identifiants

  • HAL Id : hal-00764636 , version 1

Citer

Soheib Fergani, Olivier Sename, Luc Dugard, P. Gaspar, Z. Szabó, et al.. A LPV suspension control with performance adaptation to roll behavior, integrated in a global vehicle dynamics control strategy. VSDIA 2012 - 13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, Nov 2012, Budapest, Hungary. pp.n/c. ⟨hal-00764636⟩
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