Vehicle rollover prevention by active tilt control using active suspension with MPC 2020-01-0998
The active suspension can be used to control the lateral load transfer directly, however, existing approaches for rollover prevention with an active suspension have some limitations in preventing rollovers because these controls mostly focus on reducing the roll angle passively or causing zero roll angle at most. This project presents a methodology for rollover prevention to control an automobile to tilt toward the turning direction by using active suspension. This reverse tilt can cause the moment generated by gravity to offset that generated by the centrifugal force, and therefore reduce the lateral load transfer rate (LTR). As a result, this tilt control can effectively improve the ability of vehicle on rollover prevention. A 3-DOF vehicle model with a 2-DOF bicycle and a 1-DOF roll model is established. The desired tilt angle is determined by dynamic analysis. Considering the constraint problems such as tilt angle, vehicle slip angle, yaw rate and suspension control moment, the model predictive control theory is used to design the active tilt controller, which causes zero steady-state tilt angle error. Two severe maneuvers, the fishhook and the J-turn are used to test untripped rollover. Simulation results confirm the effectiveness of the proposed control methodology. The controller reduces the lateral load transfer rate, thereby effectively decreasing the possibility of rollover while turning, meanwhile maintaining better handling stability.
Jialing Yao, Yunyi Jia, Longxiang Guo
Nanjing Forestry University, Clemson University