Hierarchical modeling and control of four-wheel-independent-vibrationabsorbing vehicle
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Abstract:
By considering the vertical road roughness and accompanied lateral excitaion produced by tire effect，a traditional vehicle model with fourteen degrees of freedoms is adopted as background. Based on the space force analysis on sprung mass of the full vehicle，five body motions such as vertical，lateral，pitch，roll and yaw vibrations are studied，and ratio relations of coupling dynamics between a whole vehicle and each four quarter vehicles of vertical and lateral directions are deduced. A hierarchical parallel model which contains some independent quarter vehicles is formed. A concept of four-wheel-independent-vibrationabsorbing(4WIV) vehicle is proposed. The central level is founded by above coupling ratio relations and local control levels are constructed by quarter vehicles. Based on sophisticated robust control strategies under Matlab software environment，the control process of 4WIV vehicle is simulated. The results show that the system response could be quickened and ride comfort and handling properties would be improved due to parallel computation realization of local control parameters. The research on 4WIV vehicle in this paper lays the theoretical foundation for its application in automotive fields.
