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Roll and Pitch Motion Control Using Active Suspension Under Combined Steering and Braking Inputs


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DOI: https://doi.org/10.15866/ireme.v17i12.22604

Abstract


Excessive vertical, roll, and pitch motions of the vehicle can cause discomfort for the driver and passengers. Mitigation of such motions can be done using active suspensions. In this paper, proportional-derivative controllers are used to reduce the vertical, roll, and pitch motions by using a 10 degree-of-freedom vehicle model. The vehicle model is verified by using CarSim for a double lane change maneuver. The verification results have showed that the vehicle model used in this study can emulate the motion of the vehicle model in CarSim. The proportional-derivative controllers are used to calculate the desired vehicle vertical force, roll moment, and pitch moment. These desired force and moments are converted into active suspension force inputs by using decoupling transformation. When the vehicle is given sine steer wave and braking torque inputs, the results have showed that the controllers can reduce the vertical, roll, and pitch motions considerably.
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Keywords


Active Suspension; Pitch; Roll; Vehicle Control System; Vehicle Dynamics

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References


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