Analysis of Lateral Stability with Integrated Control of Suspension and Steering Systems

摘要

The integrated control of suspensions and steering systems in cornering on uneven roads is analyzed by means of LQR control theory, assuming that cornering forces depend on normal tire loads in addition to tire slip angles. The effectiveness of parametric design for the integrated control is discussed in the vehicle stability on curvy road. By simulations of this control system under a preview driver control, it is furthermore confirmed that maneuverability is much improved for safer cornering along a desired curve on uneven roads, and it is necessary to design the integrated control with saturation condition of individual control systems.