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首页> 外文期刊>Journal of Mechanical Science and Technology >Design of a robust controller for rollover prevention with active suspension and differential braking
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Design of a robust controller for rollover prevention with active suspension and differential braking

机译：具有主动悬架和差速制动功能的防侧翻坚固控制器的设计

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This paper presents a method to design a robust controller for rollover prevention. Several types of controllers for rollover prevention have been proposed in such a way to minimize the lateral acceleration and the roll angle. The rollover prevention capability of these controllers can be enhanced if the controlled vehicle system is robust to the variation of the height of the center of gravity (C.G.) and the speed of the vehicle. With this idea, a robust controller is designed with linear quadratic static output feedback and parameter sensitivity reduction scheme. Differential braking and an active suspension system are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through simulations on the nonlinear multi-body dynamic simulation software, CarSim.
机译：本文提出了一种设计用于防止侧翻的鲁棒控制器的方法。已经提出了几种用于防止侧翻的控制器，其方式是最小化横向加速度和侧倾角。如果受控车辆系统对于重心高度（C.G.）和车辆速度的变化具有鲁棒性，则可以增强这些控制器的防侧翻能力。有了这个想法，就设计出了具有线性二次静态输出反馈和参数灵敏度降低方案的鲁棒控制器。采用差速制动和主动悬架系统作为分别产生横摆力矩和侧倾力矩的执行器。通过在非线性多体动态仿真软件CarSim上进行仿真，表明该方法可有效防止侧翻​​。

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