TWO DISTINCT METHODS FOR INTEGRATION OF ACTIVE DIFFERENTIAL AND ACTIVE ROLL CONTROL SYSTEMS

摘要

The development and application of mechatronic subsystems have been dramatically increased in the automobile industry during recent years. The implementation of these subsystems, aboard vehicles, results in an increase in the vehicle performance and stability. However, until recently, these subsystems have been developed for specific objectives without considering the dynamic coupling between these systems. Hence, their potentials are not fully exploited. In this paper, the coupling effect of the active differential and the active roll control systems on the lateral and the yaw rate dynamics of a vehicle is demonstrated by deriving a simple linearized model. Then, two distinct control strategies are proposed for illustrating the benefits of integrating the aforementioned systems. The first control method is based on direct use of an optimisation method for computing an optimal mapping of the requested vehicle body forces to the actuator inputs. The second method utilises a MIMO model based control methodology. The advantages and the drawbacks of each control strategy are discussed and the simulations results are presented.