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Optimal roll control of an articulated vehicle: theory and model validation

2005; Taylor & Francis; Volume: 43; Issue: 12 Linguagem: Inglês

10.1080/00423110500217167

1744-5159

Arnaud J. P. Miege, David Cebon,

Soil Mechanics and Vehicle Dynamics

Abstract This paper investigates optimal roll control of an experimental articulated vehicle. The test vehicle and the mathematical model used to design the control strategies are presented. The vehicle model is validated against experimental data from the test vehicle in passive configuration. The initial controller design, performed by Sampson (Sampson, D.J.M. and Cebon, D., 2003a, Achievable roll stability of heavy road vehicles. Proc. Instn. Mech. Engrs, Part D, J. Automobile Engineering, 217(4), 269–287), is reviewed and adapted for the experimental vehicle. The effect of not controlling all the axles on the vehicle is investigated and a variable vehicle speed controller is designed by interpolating between constant speed controllers. Substantial reduction in normalized load transfer is achieved for a range of manoeuvres, both in steady-state and transient conditions. Keywords: Active roll controlHeavy vehicleRolloverExperimental vehicleOptimal controlGain scheduling Acknowledgements The authors wish to acknowledge the financial support of the Cambridge Vehicle Dynamics Consortium and the Engineering and Physical Sciences Research Council. At the time of writing, the Consortium consisted of the University of Cambridge together with the following partners from the heavy vehicle industry: ArvinMeritor, Denby Transport Ltd, Firestone Industrial Products, Fluid Power Design Ltd, FM Engineering Services Ltd, General Trailers, Haldex, Mektronika Systems Ltd, Motor Industry Research Association, QinetiQ Ltd, Shell UK Ltd, Tinsley Bridge Ltd and Volvo Global Trucks. The authors also wish to thank Richard Roebuck, Brian Jujnovich, Edwin Stone and Benjamin Jeppesen for their help in building the experimental vehicle and performing the testing work described here. Mr Arnaud Miège would like to thank Dr David Sampson for his help and advice on vehicle modelling and optimal control theory. Notes †This corresponds to a passive suspension with no anti-roll bar. ‡This corresponds to a passive suspension with extra roll stiffness.