Vehicle roll motion safety h for active suspension 2 /h ∞ Controller Design Method

Abstract

This invention discloses a design method of a vehicle rolling motion safety H2 / H8 controller for active suspension. Based on the state equation of a vehicle three-freedom degree steering-rolling motion model, reducing the lateral load transfer rate (LTR) of a vehicle is directly taken as the aim, and the suspension rolling angle is limited. According to the method, when the H2 / H8 controller is designed, LTR is directly used for constructing an H2 norm, and an H8 norm is used for limiting the rolling angle, wherein the maximum of the rolling angle can be determined according to the followingtwo methods: 1, the maximum of the rolling angle is equal to double the suspension limit stroke divided by the suspension mounting distance of the same axle; 2, the maximum of the rolling angle is equal to the determined value obtained when 99% of passive suspension vehicle rolling angles are not out of limits under the steering situation of double lane change at the travel speed of 60 kilometersper hour.

Description

technical field [0001] The invention belongs to the field of vehicle suspension control, and in particular relates to a vehicle roll motion safety H system which directly takes the lateral load transfer rate as the control target and uses the active suspension as the actuator. 2 / H ∞ controller design method. Background technique [0002] The current density of expressway network and the continuous increase of vehicle speed have led to the continuous increase in the frequency of vehicle rollover accidents. The casualties and economic losses caused by rollover accidents are second only to collision accidents. From the perspective of vehicle dynamics, there are two factors that cause the vehicle to roll and then cause rollover: crosswind and steering operation. Among them, the steering operation under high-speed conditions is the main reason for the increase in the incidence of vehicle rollover accidents. [0003] The current main technologies for controlling vehicle rollov...

AI Technical Summary

Problems solved by technology

The lateral load transfer ratio (Lateral-load Transfer Ratio, LTR) is the most important evaluation index of vehicle roll motion safety, but there is no active suspension H that takes direct LTR as the control target and is based on vehicle roll motion safety. 2 / H ∞ controller

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