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Performance and robustness assessment of H ∞ active anti-roll bar control system by using a software environment

机译：使用软件环境评估H∞主动防倾杆控制系统的性能和鲁棒性

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The active anti-roll bar system has been proven to be one of the most effective solutions to improve roll stability of heavy vehicles. In a previous work, the authors proposed anH∞controller for this system. The Genetic Algorithms method was used to handle the vehicle roll stability and the energy consumption of the actuators via the Pareto optimality. This paper aims to assess the overall effectiveness of the proposed controller with nonlinear heavy vehicle models, which are already set up in the TruckSim?software. The controller is then evaluated in hard conditions to show the high performance and robust with the nonlinearity effects, such as the load distribution between the two axles, the side wind gusts and the abrupt steering. To conduct testing of theH∞active anti-roll bar control system, we propose a co-simulation structure between TruckSim?and Simulink?: the nonlinear vehicle model is determined from TruckSim?, based on using the block S-function of Simulink. Meanwhile, the controller and the actuators are built directly in theMatlab/Simulink?environment. The validation results are made through two different types of heavy vehicles: a tour bus and a truck, using a selection of different velocities and scenarios. The results show that by using theH∞active anti-roll bar control system, in comparison to the passive anti roll bar system, roll stability is improved to minimise the risk of vehicle rollover.
机译：主动防侧倾杆系统已被证明是提高重型车辆侧倾稳定性的最有效解决方案之一。在先前的工作中，作者为该系统提出了一个H∞控制器。遗传算法方法用于通过帕累托最优性来处理车辆侧倾稳定性和执行器的能量消耗。本文旨在通过非线性重型车辆模型评估提出的控制器的整体有效性，该模型已在TruckSim？软件中建立。然后，在恶劣的条件下对控制器进行评估，以显示出高性能和鲁棒性以及非线性效应，例如两个车轴之间的负载分布，侧风和突然转向。为了进行H∞主动防倾杆控制系统的测试，我们提出了TruckSim？和Simulink？之间的协同仿真结构：使用Simulink的块S函数从TruckSim？确定非线性车辆模型。同时，控制器和执行器直接在Matlab / Simulink环境中构建。验证结果是通过两种不同类型的重型车辆（游览车和卡车）得出的，使用了不同的速度和场景。结果表明，与被动式防倾杆系统相比，使用H∞主动式防倾杆控制系统可以提高侧倾稳定性，从而最大程度地降低车辆侧翻的风险。

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