Please wait a minute...

Frontiers of Mechanical Engineering

Front. Mech. Eng.
Vehicle roll stability control with active roll-resistant electro-hydraulic suspension
Lijun XIAO, Ming WANG(), Bangji ZHANG, Zhihua ZHONG
State Key Laboratory of Advanced Design and Manufacture for Vehicle Body, Hunan University, Changsha 410082, China
Download: PDF(1523 KB)   HTML
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

This study examines roll stability control for vehicles with an active roll-resistant electro-hydraulic suspension (RREHS) subsystem under steering maneuvers. First, we derive a vehicle model with four degrees of freedom and incorporates yaw and roll motions. Second, an optimal linear quadratic regulator controller is obtained in consideration of dynamic vehicle performance. Third, an RREHS subsystem with an electric servo-valve actuator is proposed, and the corresponding dynamic equations are obtained. Fourth, field experiments are conducted to validate the performance of the vehicle model under sine-wave and double-lane-change steering maneuvers. Finally, the effectiveness of the active RREHS is determined by examining vehicle responses under sine-wave and double-lane-change maneuvers. The enhancement in vehicle roll stability through the RREHS subsystem is also verified.

Keywords electro-hydraulic suspension      roll stability      LQR      experiment     
Corresponding Authors: Ming WANG   
Just Accepted Date: 12 July 2019   Online First Date: 04 September 2019   
 Cite this article:   
Lijun XIAO,Ming WANG,Bangji ZHANG, et al. Vehicle roll stability control with active roll-resistant electro-hydraulic suspension[J]. Front. Mech. Eng., 04 September 2019. [Epub ahead of print] doi: 10.1007/s11465-019-0547-9.
Fig.1  4-DOF vehicle model. (a) Lateral representation; (b) vertical representation of half-vehicle.
Fig.2  Schematic of the electrohydraulic actuator.
Fig.3  Fully electric vehicle on a concrete pavement in the experimental tests.
Fig.4  Experimental setup.
Fig.5  Comparisons of simulation and experiment results at sine-wave maneuver: (a) Sine-wave steering angle, (b) yaw rate, (c) lateral acceleration, and (d) roll angle of sprung mass.
Fig.6  Comparisons of simulation and experiment results at double-lane-change maneuver: (a) Sine-wave steering angle, (b) yaw rate, (c) lateral acceleration, and (d) roll angle of sprung mass.
Fig.7  Vehicle responses under sine-wave steering maneuver at 40 km/h: (a) Suspension deflection zsu at the left-front station, (b) roll angle f; (c) lateral load transfer rate, and (d) tire-terrain contact force Ftz1.
Fig.8  Dynamic responses of the electro-hydraulic suspension under sine-wave maneuver: (a) Roll-resistant moment u(t), (b) electric voltage of the servo-valve, (c) oil pressures at the two hydraulic circuits, and (d) flow quantities at the two circuits.
Fig.9  Vehicle responses under double-lane-change steering maneuver at 80 km/h: (a) Suspension deflection zsu at the left-front station, (b) roll angle f; (c) lateral load transfer rate, and (d) tire-terrain contact force Ftz1.
Fig.10  Dynamic responses of the electro-hydraulic suspension under double-lane-change steering maneuver: (a) Roll resistant moment u(t), (b) electric voltage of the servo-valve, (c) oil pressures at the two hydraulic circuits, and (d) flow quantities at the two circuits.
Variable Value Description
ms/kg 1934 Sprung mass
Is/(kg?m2) 560 Roll inertia of sprung mass
Izz/(kg?m2) 1640 Yaw inertia of the vehicle
Iuyy/(kg?m2) 10 Rotation inertia of the tire
muf/kg 63 Unsprung mass in the front axle
mur/kg 57 Unsprung mass in the rear axle
csf/(N?s?m–1) 2000 Damping coefficient of front suspension
csr/(N?s?m–1) 2200 Damping coefficient of rear suspension
ctf/(N?s?m–1) 100 Damping coefficient of the front tire
ctr/(N?s?m–1) 100 Damping coefficient of the rear tire
ksf/(N?m–1) 36800 Spring stiffness of front suspension
ksr/(N?m–1) 33800 Spring stiffness of rear suspension
ktf/(N?m–1) 278000 Front tire vertical stiffness
ktr/(N?m–1) 265000 Rear tire vertical stiffness
lf/m 1.33 Length from CG to the front axle
lr/m 1.62 Length from CG to the rear axle
tf/m 0.81 Half-track width in the front axle
tr/m 0.81 Half-track width in the rear axle
hos/m 0.43 Height from vehicle rolling center to CG of sprung mass
hoc/m 0.11 Height from vehicle rolling center to chassis bottom
isw 17.5 Steering ratio
  Table I Vehicle parameters
Variable Value Description
Ah/m2 0.0013 Section area of the hydraulic cylinders
V0/m3 3.77×10–4 V0=V10+V20; total oil volume in each cylinder
ps/MPa 6.0 Supply pressure
kx/(m2?s) 2.5 Valve flow gain coefficient
kp/(m5?N–1?s–1) 4.2×10–11 Total flow pressure coefficient
Ctp 0 Ctp=2Cip+Cep; total leakage coefficient of the RREHS subsystem
be/(N?m–2) 6.89×106 Effective bulk modulus of the oil
kv/(m?A–1) 0.0239 Servo-valve gain
  Table II Parameters of the servo-valve electro-hydraulic actuator [33]
1 B L Boada, M J L Boada, L Vargas-Melendez, et al.. A robust observer based on H∞ filtering with parameter uncertainties combined with neural networks for estimation of vehicle roll angle. Mechanical Systems and Signal Processing, 2018, 99: 611–623
2 H Dahmani, O Pages, A El Hajjaji, et al.. Observer-based robust control of vehicle dynamics for rollover mitigation in critical situations. IEEE Transactions on Intelligent Transportation Systems, 2014, 15(1): 274–284
3 J Yoon, W Cho, J Kang, et al.. Design and evaluation of a unified chassis control system for rollover prevention and vehicle stability improvement on a virtual test track. Control Engineering Practice, 2010, 18(6): 585–597
4 R Rajamani, D Piyabongkarn. New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control. IEEE Transactions on Intelligent Transportation Systems, 2013, 14(1): 249–261
5 C Lua, B Castillo-Toledo, R Cespi, et al.. Nonlinear observer-based active control of ground vehicles with non negligible roll dynamics. International Journal of Control, Automation, and Systems, 2016, 14(3): 743–752
6 Z Jin, L Zhang, J Zhang, et al.. Stability and optimised H∞ control of tripped and untripped vehicle rollover. Vehicle System Dynamics, 2016, 54(10): 1405–1427
7 Y Yang, W Ren, L Chen, et al.. Study on ride comfort of tractor with tandem suspension based on multi-body system dynamics. Applied Mathematical Modelling, 2009, 33(1): 11–33
8 R Sancibrian, P Garcia, F Viadero, et al.. Kinematic design of double-wishbone suspension systems using a multiobjective optimisation approach. Vehicle System Dynamics, 2010, 48(7): 793–813
9 M Mahmoodi-Kaleibar, I Javanshir, K Asadi, et al.. Optimization of suspension system of off-road vehicle for vehicle performance improvement. Journal of Central South University of Technology, 2013, 20(4): 902–910
10 H Pang, F Liu, X Liu. Enhanced variable-universe fuzzy control for vehicle semi-active suspension systems. Journal of Intelligent & Fuzzy Systems, 2016, 31(6): 2999–3006
11 M X Cheng, X H Jiao. Observer-based adaptive L2 disturbance attenuation control of semi-active suspension with MR damper. Asian Journal of Control, 2017, 19(1): 346–355
12 X Tang, H Du, S Sun, et al.. Takagi-Sugeno fuzzy control for semi-active vehicle suspension with a magnetorheological damper and experimental validation. IEEE/ASME Transactions on Mechatronics, 2017, 22(1): 291–300
13 P Gáspár, Z Szabó, G Szederkényi, et al.. Design of a two-level controller for an active suspension system. Asian Journal of Control, 2012, 14(3): 664–678
14 H Li, H Liu, C Hilton, et al.. Non-fragile H∞ control for half-vehicle active suspension systems with actuator uncertainties. Journal of Vibration and Control, 2013, 19(4): 560–575
15 S Bououden, M Chadli, H R Karimi. A robust predictive control design for nonlinear active suspension systems. Asian Journal of Control, 2016, 18(1): 122–132
16 G Wang, C Chen, S Yu. Optimization and static output-feedback control for half-car active suspensions with constrained information. Journal of Sound and Vibration, 2016, 378: 1–13
17 A Oustaloup, X Moreau, M Nouillant. The CRONE suspension. Control Engineering Practice, 1996, 4(8): 1101–1108
18 G Quaglia, M Sorli. Air suspension dimensionless analysis and design procedure. Vehicle System Dynamics, 2001, 35(6): 443–475
19 M Ahmadian, D E Simon. An analytical and experimental evaluation of magneto rheological suspensions for heavy trucks. Vehicle System Dynamics, 2002, 37(sup1): 38–49
20 J Kang, J Yoo, K Yi. Driving control algorithm for maneuverability, lateral stability, and rollover prevention of 4WD electric vehicles with independently driven front and rear wheels. IEEE Transactions on Vehicular Technology, 2011, 60(7): 2987–3001
21 H Du, N Zhang. Fuzzy control for nonlinear uncertain electrohydraulic active suspensions with input constraint. IEEE Transactions on Fuzzy Systems, 2009, 17(2): 343–356
22 H D Choi, C J Lee, M T Lim. Fuzzy preview control for half-vehicle electro-hydraulic suspension system. International Journal of Control, Automation, and Systems, 2018, 16(5): 2489–2500
23 W Sun, H Gao, B Yao. Adaptive robust vibration control of full-car active suspensions with electrohydraulic actuators. IEEE Transactions on Control Systems Technology, 2013, 21(6): 2417–2422
24 H J Kim. Robust roll motion control of a vehicle using integrated control strategy. Control Engineering Practice, 2011, 19(8): 820–827
25 S Yim. Design of a preview controller for vehicle rollover prevention. IEEE Transactions on Vehicular Technology, 2011, 60(9): 4217–4226
26 H H Huang, R K Yedavalli, D A Guenther. Active roll control for rollover prevention of heavy articulated vehicles with multiple-rollover-index minimization. Vehicle System Dynamics, 2012, 50(3): 471–493
27 H Imine, L M Fridman, T Madani. Steering control for rollover avoidance of heavy vehicles. IEEE Transactions on Vehicular Technology, 2012, 61(8): 3499–3509
28 V F Dal Poggetto, A L Serpa. Vehicle rollover avoidance by application of gain-scheduled LQR controllers using state observers. Vehicle System Dynamics, 2016, 54(2): 191–209
29 H Sun, Y H Chen, H Zhao. Adaptive robust control methodology for active roll control system with uncertainty. Nonlinear Dynamics, 2018, 92(2): 359–371
30 Y Pourasad, M Mahmoodi-K, M Oveisi. Design of an optimal active stabilizer mechanism for enhancing vehicle rolling resistance. Journal of Central South University, 2016, 23(5): 1142–1151
31 J Marzbanrad, G Soleimani, M Mahmoodi-K, et al.. Development of fuzzy anti-roll bar controller for improving vehicle stability. Journal of Vibroengineering, 2015, 17(7): 3856–3864
32 Y Kawamoto, Y Suda, H Inoue, et al.. Electro-mechanical suspension system considering energy consumption and vehicle manoeuvre. Vehicle System Dynamics, 2008, 46(sup1): 1053–1063
33 S Yim, K Jeon, K Yi. An investigation into vehicle rollover prevention by coordinated control of active anti-roll bar and electronic stability program. International Journal of Control, Automation, and Systems, 2012, 10(2): 275–287
34 L Wang, P Todaria, A Pandey, et al.. An electromagnetic speed bump energy harvester and its interactions with vehicles. IEEE/ASME Transactions on Mechatronics, 2016, 21(4): 1985–1994
35 X Jin, G Yin. Estimation of lateral tire-road forces and sideslip angle for electric vehicles using interacting multiple model filter approach. Journal of the Franklin Institute-Engineering and Applied Mathematics, 2015, 352(2): 686–707
36 B Mashadi, M Mahmoodi-K, A H Kakaee, . Vehicle path following control in the presence of driver inputs. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2013, 227(2): 115–132
37 V T Vu, O Sename, L Dugard, et al.. Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators. Vehicle System Dynamics, 2017, 55(9): 1405–1429
38 W Ding, H Deng, Y Xia, et al.. Tracking control of electro-hydraulic servo multi-closed-chain mechanisms with the use of an approximate nonlinear internal model. Control Engineering Practice, 2017, 58: 225–241
39 J J Rath, M Defoort, K C Veluvolu. Rollover index estimation in the presence of sensor faults, unknown inputs, and uncertainties. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(10): 2949–2959
Related articles from Frontiers Journals
[1] Yang LI,Yunxin WU,Hai GONG,Xiaolei FENG. Air bearing center cross gap of neutron stress spectrometer sample table support system[J]. Front. Mech. Eng., 2016, 11(4): 403-411.
[2] Daniele CAFOLLA,I-Ming CHEN,Marco CECCARELLI. An experimental characterization of human torso motion[J]. Front. Mech. Eng., 2015, 10(4): 311-325.
[3] Pengxing YI,Lijian DONG,Tielin SHI. Multi-objective genetic algorithms based structural optimization and experimental investigation of the planet carrier in wind turbine gearbox[J]. Front. Mech. Eng., 2014, 9(4): 354-367.
[4] Yancheng LI,Jianchun LI. Dynamic characteristics of a magnetorheological pin joint for civil structures[J]. Front. Mech. Eng., 2014, 9(1): 15-33.
[5] Song YU, Weiming FENG. Experimental research on ductile fracture criterion in metal forming[J]. Front Mech Eng, 2011, 6(3): 308-311.
[6] Giuseppe CARBONE. Stiffness analysis and experimental validation of robotic systems[J]. Front Mech Eng, 2011, 6(2): 182-196.
[7] Cunfu HE, Huanyu ZHAO, Ruiju WEI, Bin WU. Existence of complete band gaps in 2D steel-water phononic crystal with square lattice[J]. Front Mech Eng Chin, 2010, 5(4): 450-454.
[8] Jianhui ZHANG, Fang YE, Onuki AKIYOSHI, . Machine of testing the ceramic’s bending strength properties at high temperature and ultra-low speed[J]. Front. Mech. Eng., 2010, 5(3): 289-293.
[9] Jianhui ZHANG, Jun HUANG, Xiaoqi HU, Qixiao XI, . Novel piezoelectric pump with “E”-shaped valve found from sub-experiments[J]. Front. Mech. Eng., 2010, 5(2): 212-218.
[10] Ruijun GE, Bangfeng WANG, Changwei MOU, Yong ZHOU, . Deformation characteristics of corrugated composites for morphing wings[J]. Front. Mech. Eng., 2010, 5(1): 73-78.
[11] Wei WU, Shihua YUAN, Jibin HU, Chongbo JING, . Design approach for single piston hydraulic free piston diesel engines[J]. Front. Mech. Eng., 2009, 4(4): 371-378.
[12] LU Zesheng, MA Binghui. Equivalent thermal conductivity of heat pipes[J]. Front. Mech. Eng., 2008, 3(4): 462-466.
[13] ZHU Yu, JIA Songtao, CHEN Yaying, LI Guang. Electrorheological damper for the ultra-precision air bearing stage[J]. Front. Mech. Eng., 2008, 3(2): 158-163.
[14] LI Wenqi, CHEN Jianyi. Experimental research on cyclone performance at high temperature[J]. Front. Mech. Eng., 2007, 2(3): 310-317.
[15] GUO Xiaoguang, GUO Dongming, KANG Renke, JIN Zhuji. Theoretical and experimental analysis on super precision grinding of monocrystal silicon[J]. Front. Mech. Eng., 2007, 2(2): 137-143.
Full text



  Shared   0