Roll state estimation and active control of vehicles considering road uneven disturbances

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (5) : 133-141.

ZHANG Liangxiu1, WU Guangqiang1,2

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Abstract

In order to estimate the roll state of vehicles inexpensively and effectively, the method for roll state estimation and active roll control of vehicles considering road uneven disturbances was investigated. A 3-DOF vehicle lateral dynamic model was established, and Kalman filtering was applied to design a roll state estimation algorithm based on the vehicle lateral dynamics. To estimate the roll state induced by road uneven inputs, A 7-DOF vehicle vertical dynamic model was established and one roll state estimation algorithm was designed using the vehicle body vertical acceleration signals measured. On this basis, the expected vehicle additional anti-roll moment was determined with the sliding mode variable structure control method, and the vehicle active anti-roll control was realized by adjusting damping forces of four adjustable damping absorbers. Simulation results showed that the roll state estimation algorithm based on lateral dynamics can only estimate roll states induced by steer input, while that based on vertical dynamics can effectively estimate roll states induced by both steer input and road uneven input; adjustable damping absorbers can be used to effectively realize active control of vehicle roll states.

Key words

road uneven input / roll state estimation / Kalman filtering / adjustable damping absorber / roll active control

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ZHANG Liangxiu1, WU Guangqiang1,2. Roll state estimation and active control of vehicles considering road uneven disturbances[J]. Journal of Vibration and Shock, 2018, 37(5): 133-141

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