Abstract
Cornering maneuvers with reduced body roll and without loss in comfort are leading requirements for car manufacturers. An electric active roll control (ARC) system controls body roll angle with motor-driven actuators installed in the centers of the front and rear stabilizer bars. A vehicle analysis model developed using a CarSim S/W was validated using vehicle test data. Two ARC algorithms for a sports utility vehicle (SUV) were designed using a sliding-mode control algorithm based on a nonlinear roll model and an estimated lateral acceleration based on a linearized roll model. Co-simulation with the Matlab simulink controller model and the CarSim vehicle model were conducted to evaluate the performance of two ARC control algorithms. To validate the ARC performance in a real vehicle, vehicle tests were conducted at KATECH proving ground using a small SUV equipped with two ARC actuators, upper and lower controllers and a few subsystems. From the simulation and vehicle validation test results, the proposed ARC control algorithm for the developed ARC actuator prototypes improves the vehicle’s dynamic performance.
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Abbreviations
- K T :
-
torsional stiffness of stabilizer bar [Nm/deg]
- I P :
-
polar moment of inertia of stabilizer bar [m4]
- M R :
-
roll moment of vehicle [Nm]
- M T :
-
twisting moment of stabilizer bar [Nm]
- M ARC :
-
total roll compensation moment [Nm]
- M ARC,f :
-
front roll compensation moment [Nm]
- M ARC,r :
-
rear roll compensation moment [Nm]
- m s :
-
sprung mass [kg]
- h s :
-
distanse from roll axis to CG of sprung mass [m]
- G :
-
modulus of rigidity [Pa]
- g :
-
gravity constant (= 9.81 m/s2)
- I x :
-
moment of inertia of sprung mass [kg m2]
- ϕ :
-
roll angle [rad]
- \(\dot \varphi \) :
-
roll rate [rad/s]
- a y :
-
lateral acceleration [m/s2]
- K ϕ :
-
roll stiffness [Nm/rad]
- K ϕ,f :
-
roll stiffness of front wheel [Nm/rad]
- K ϕ,r :
-
roll stiffness of rear wheel [Nm/rad]
- C ϕ :
-
roll damping [Nm/(rad/s)]
- V vehicle :
-
vehicle speed [m/s]
- θ steer :
-
steering wheel angle [rad]
- a y,est1 :
-
1st estimated lateral acceleration [m/s2]
- a y,sen :
-
sensing value from ESP a y sensor [m/s2]
- a y,set :
-
final estimated lateral acceleration [m/s2]
- f F_roll :
-
ratio of front roll moment to total moment [−]
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Jeon, K., Hwang, H., Choi, S. et al. Development of an electric active rollcontrol (ARC) algorithm for a SUV. Int.J Automot. Technol. 13, 247–253 (2012). https://doi.org/10.1007/s12239-012-0021-8
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DOI: https://doi.org/10.1007/s12239-012-0021-8