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Sensors 2017, 17(10), 2318; doi:10.3390/s17102318

A LQR-Based Controller with Estimation of Road Bank for Improving Vehicle Lateral and Rollover Stability via Active Suspension

Mechanical Engineering Department, Institute for Automotive Vehicle Safety (ISVA), Universidad Carlos III de Madrid, Avda. de la Universidad 30, 28911 Madrid, Spain
These authors contributed equally to this work.
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Received: 21 July 2017 / Revised: 9 October 2017 / Accepted: 10 October 2017 / Published: 13 October 2017
(This article belongs to the Special Issue Sensors for Transportation)

Abstract

In this article, a Linear Quadratic Regulator (LQR) lateral stability and rollover controller has been developed including as the main novelty taking into account the road bank angle and using exclusively active suspension for both lateral stability and rollover control. The main problem regarding the road bank is that it cannot be measured by means of on-board sensors. The solution proposed in this article is performing an estimation of this variable using a Kalman filter. In this way, it is possible to distinguish between the road disturbance component and the vehicle’s roll angle. The controller’s effectiveness has been tested by means of simulations carried out in TruckSim, using an experimentally-validated vehicle model. Lateral load transfer, roll angle, yaw rate and sideslip angle have been analyzed in order to quantify the improvements achieved on the behavior of the vehicle. For that purpose, these variables have been compared with the results obtained from both a vehicle that uses passive suspension and a vehicle using a fuzzy logic controller. View Full-Text
Keywords: bank; LQR; active suspension; Kalman filter; roll angle; yaw rate; sideslip; load transfer bank; LQR; active suspension; Kalman filter; roll angle; yaw rate; sideslip; load transfer
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Riofrio, A.; Sanz, S.; Boada, M.J.L.; Boada, B.L. A LQR-Based Controller with Estimation of Road Bank for Improving Vehicle Lateral and Rollover Stability via Active Suspension. Sensors 2017, 17, 2318.

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