Modelling, validation and adaptive pid control with pitch moment rejection of active suspension system for reducing unwanted vehicle motion in longitudinal directionud

摘要

This paper provides a detailed derivation of a full vehicle model, which may be used to simulate the behaviour of a vehicle in longitudinal direction. The 14 degrees of freedom (14-DOF) vehicle model is integrated with an analytical tyre dynamics using Calspan tyre model. The full vehicle model was validated experimentally with an instrumented experimental vehicle based on the driver input from brake or throttle pedals. Several transient handling tests were performed, namely sudden acceleration and sudden braking test. Comparisons of the experimental result and model response with sudden braking and throttling imposed motion are made. The results of model validation show that the trends between simulation results and experimental data are almost similar with acceptable error. An adaptive PID control strategy was implemented on the validated full vehicle model to reduce unwanted vehicle motions in longitudinal direction during sudden braking and throttling manoeuvre. The results show that the proposed control structure is able to significantly improve the dynamic performance of the vehicle during sudden braking and sudden acceleration under various conditions.