Integrated control of the differential braking,the suspension damping force and the active roll moment for improvement in the agility and the stability

This paper describes an integrated control strategy of the differential braking, the semiactive suspension damper and the active roll moment. Integrated control is designed to improve the agility and the stability of a vehicle by simultaneous control of the yaw rate and the roll motion. The proposed integrated chassis control algorithm consists of a supervisor, vehicle motion control algorithms and a coordinator. The supervisor monitors the vehicle status and determines the desired vehicle motions such as the desired yaw rate and the desired roll motion based on control modes to improve the stability and the agility of the vehicle. The control algorithm calculates the desired yaw moment and the desired roll moment for generation of the desired vehicle motions. The coordinator determines the brake pressures, the damper current and the active roll moment to generate the desired yaw moment and the desired roll moment. The roll moment and the yaw moment can be controlled simultaneously by the use of the active anti-roll bar motor torque. Open-loop and closed-loop simulations of a driver–vehicle–controller system were conducted to investigate the performance of the proposed control algorithm. The performance of the proposed integrated chassis control algorithm was compared with those of the individual chassis control systems, such as the electronic control suspension and the an active roll control system. It was shown from the simulation results that the proposed integrated chassis control system can provide a significantly improved performance with respect to the agility, the manoeuvrability and the roll stability of a vehicle compared with the performances of the individual chassis control systems.