Title: Integrated hierarchical control strategy of active suspension and differential assisted steering system for electric-wheel vehicle

Authors: Shuai Wang; Guobiao Shi; Yi Lin

Addresses: School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China ' School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China ' School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China

Abstract: In order to solve the performance decrease of riding comfort and handling stability caused by the increase of unsprung mass for the electricwheel vehicle, an integrated hierarchical control strategy is proposed based on differential assisted steering system (DASS) and active suspension system (ASS). Here, the upper controller is designed to coordinate the overall control strategy and determine the control weight of the two subsystems by the fuzzy control algorithm. Afterwards, for the lower controllers, the linear quadratic optimal algorithm is taken in the differential steering system to determine the additional yaw moment, and the active disturbance rejection control is used in the active suspension system to suppress body vibration and improve riding comfort. The simulation results show that the proposed hierarchical control can effectively improve the riding comfort and handling stability of the electric-wheel vehicle.

Keywords: electric-wheel vehicle; active suspension; differential steering; hierarchical control; hub motor; fuzzy control; ADRC; LQR control.

DOI: 10.1504/IJVD.2019.111581

International Journal of Vehicle Design, 2019 Vol.81 No.3/4, pp.212 - 240

Received: 28 Nov 2019
Accepted: 20 Mar 2020
Published online: 02 Dec 2020 *

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