Citation

Riofrio A, Sanz S, Boada MJL, Boada BL. Sensors (Basel) 2017; 17(10): s17102318.

Affiliation

Mechanical Engineering Department, Institute for Automotive Vehicle Safety (ISVA), Universidad Carlos III de Madrid, Avda. de la Universidad 30, 28911 Madrid, Spain. mjboada@ing.uc3m.es.

Copyright

(Copyright © 2017, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s17102318

PMID

29027910

Abstract

In this article, a Linear Quadratic Regulator (LQR) lateral stability and rollover controller has been developed including as the main novelty taking into account the road bank angle and using exclusively active suspension for both lateral stability and rollover control. The main problem regarding the road bank is that it cannot be measured by means of on-board sensors. The solution proposed in this article is performing an estimation of this variable using a Kalman filter. In this way, it is possible to distinguish between the road disturbance component and the vehicle's roll angle. The controller's effectiveness has been tested by means of simulations carried out in TruckSim, using an experimentally-validated vehicle model. Lateral load transfer, roll angle, yaw rate and sideslip angle have been analyzed in order to quantify the improvements achieved on the behavior of the vehicle. For that purpose, these variables have been compared with the results obtained from both a vehicle that uses passive suspension and a vehicle using a fuzzy logic controller.

Language: en

Keywords

Kalman filter; LQR; active suspension; bank; load transfer; roll angle; sideslip; yaw rate