Optimizing Vehicle Response in a Combined Ride and Handling Full Car Model by Optimal Control Strategies 2001-01-1581
This paper focuses on the control of combined ride and handling full car model of a Four-Wheel Steering (4WS) Vehicle and determines how can ride and handling influence together by the road irregularities and front and rear steering inputs and disturbances like side wind.
A 9 DOF linear full car model is discussed as the controller model, which controls a 9 DOF nonlinear full car model. Control inputs are 4 actuators for each wheel that control vertical displacement of sprung mass and 2 actuators for rear wheels that control the rear steering angle. The model describes vertical and lateral displacements and rotations and it is considered to have quasi-static conditions in longitudinal displacement. Control strategies that are used in this paper are Linear Quadratic Regulator (LQR) and Dynamic Programming that regulates vertical displacements and tracks the yaw rate reference.