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Frontiers of Mechanical Engineering

Front. Mech. Eng.
RESEARCH ARTICLE
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
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Abstract

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.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-019-0547-9
http://journal.hep.com.cn/fme/EN/Y/V/I/0
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]
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