Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction
The steering and suspension systems, as key actuators of intelligent vehicles, have a significant impact on vehicle handling stability and ride comfort. However, in view of the coupling between them, it is difficult to balance the above two aspects of performance when controlled separately. To impro...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2025-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/atr/5529466 |
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| _version_ | 1849326223430254592 |
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| author | Taowen Cui Shuaiyin Wang Yuxiang Cao Bo Li Can Xu Jingda Wu |
| author_facet | Taowen Cui Shuaiyin Wang Yuxiang Cao Bo Li Can Xu Jingda Wu |
| author_sort | Taowen Cui |
| collection | DOAJ |
| description | The steering and suspension systems, as key actuators of intelligent vehicles, have a significant impact on vehicle handling stability and ride comfort. However, in view of the coupling between them, it is difficult to balance the above two aspects of performance when controlled separately. To improve the comprehensive control effect of the automobile chassis system, this paper presents an integrated control method for active steering and active suspension system (ASS) based on robust model predictive controller (MPC) considering road vibration prediction. The designed controller considers the motion of the vehicle in yaw, roll, pitch, and vertical directions. Based on the established vehicle dynamics model, road surface model, and driver model, the integrated system control framework is constructed. Then, the proposed robust MPC (R-MPC) with road vibration prediction is testified through simulation. The results show that the R-MPC has better anti-interference ability than the MPC method under road excitation or slippery road condition, and the comprehensive performance of vehicle handling stability and ride comfort can be improved through road vibration prediction. |
| format | Article |
| id | doaj-art-63ba1f366bce4e99b82b73d2fcb94cd9 |
| institution | Kabale University |
| issn | 2042-3195 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-63ba1f366bce4e99b82b73d2fcb94cd92025-08-20T03:48:11ZengWileyJournal of Advanced Transportation2042-31952025-01-01202510.1155/atr/5529466Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration PredictionTaowen Cui0Shuaiyin Wang1Yuxiang Cao2Bo Li3Can Xu4Jingda Wu5School of Automotive and Transportation EngineeringSchool of Automotive and Transportation EngineeringSchool of Automotive and Transportation EngineeringSchool of Automotive and Transportation EngineeringSchool of Automotive and Transportation EngineeringSchool of Mechanical and Aerospace EngineeringThe steering and suspension systems, as key actuators of intelligent vehicles, have a significant impact on vehicle handling stability and ride comfort. However, in view of the coupling between them, it is difficult to balance the above two aspects of performance when controlled separately. To improve the comprehensive control effect of the automobile chassis system, this paper presents an integrated control method for active steering and active suspension system (ASS) based on robust model predictive controller (MPC) considering road vibration prediction. The designed controller considers the motion of the vehicle in yaw, roll, pitch, and vertical directions. Based on the established vehicle dynamics model, road surface model, and driver model, the integrated system control framework is constructed. Then, the proposed robust MPC (R-MPC) with road vibration prediction is testified through simulation. The results show that the R-MPC has better anti-interference ability than the MPC method under road excitation or slippery road condition, and the comprehensive performance of vehicle handling stability and ride comfort can be improved through road vibration prediction.http://dx.doi.org/10.1155/atr/5529466 |
| spellingShingle | Taowen Cui Shuaiyin Wang Yuxiang Cao Bo Li Can Xu Jingda Wu Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction Journal of Advanced Transportation |
| title | Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction |
| title_full | Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction |
| title_fullStr | Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction |
| title_full_unstemmed | Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction |
| title_short | Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction |
| title_sort | research on steering and suspension integrated control based on robust mpc considering road vibration prediction |
| url | http://dx.doi.org/10.1155/atr/5529466 |
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