Title: Attitude motion control of vehicle including the active passenger seat system

Authors: Wu Liang; Muhammad Arshad Khan; Edward Youn; Iljoong Youn; Masayoshi Tomizuka

Addresses: School of Mechanical and Aerospace Engineering, ReCAPT, Gyeongsang National University, Jinju, Gyeongnam 660-701, South Korea ' School of Mechanical and Aerospace Engineering, ReCAPT, Gyeongsang National University, Jinju, Gyeongnam 660-701, South Korea ' School of Mechanical and Aerospace Engineering, ReCAPT, Gyeongsang National University, Jinju, Gyeongnam 660-701, South Korea ' School of Mechanical and Aerospace Engineering, ReCAPT, Gyeongsang National University, Jinju, Gyeongnam 660-701, South Korea ' Department of Mechanical Engineering, University of California, Berkeley, California 94720, USA

Abstract: This research focuses on improving the attitude motion of a vehicle using active suspension and active seat together. The proposed attitude-tracking controller eliminates the unpleasant lateral and longitudinal forces acting on passengers by tilting the vehicle against the direction of the centrifugal forces created in cornering, braking, and accelerating. In addition to the enhancement of ride comfort, better road holding capability is also achieved by evenly distributing forces on all wheels. An active seat system is added to the car body in order to accommodate angles larger than the available body angle. A nonlinear model is utilised to simulate the performance that more resembles the actual system, and the difference between linear and nonlinear models is analysed by comparing the simulation. The simulation results show that using an active passenger seat with the attitude-tracking controller can improve ride comfort more than using attitude-tracking controller alone.

Keywords: attitude motion control; tracking control; ride comfort; handling capability; 17 d.o.f nonlinear model; 10 d.o.f linear model; active passenger seat; active suspension; nonlinear tyre model; linear tyre model.

DOI: 10.1504/IJVD.2018.100099

International Journal of Vehicle Design, 2018 Vol.78 No.1/2/3/4, pp.131 - 160

Accepted: 20 Feb 2019
Published online: 07 Jun 2019 *

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