Title: Modelling, validation and adaptive PID control with pitch moment rejection of active suspension system for reducing unwanted vehicle motion in longitudinal direction

Authors: Fauzi Ahmad, Khisbullah Hudha, Fitrian Imaduddin, Hishammudin Jamaluddin

Addresses: Center of Vehicle Research and Development (CeVReD), Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), Karung Berkunci 1200, Hang Tuah Jaya, Ayer Keroh 75450 Melaka, Malaysia. ' Center of Vehicle Research and Development (CeVReD), Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), Karung Berkunci 1200, Hang Tuah Jaya, Ayer Keroh 75450 Melaka, Malaysia. ' Center of Vehicle Research and Development (CeVReD), Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), Karung Berkunci 1200, Hang Tuah Jaya, Ayer Keroh 75450 Melaka, Malaysia. ' Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor, Malaysia

Abstract: This paper provides a detailed derivation of a full vehicle model, which may be used to simulate the behaviour of a vehicle in longitudinal direction. The 14 degrees of freedom (14-DOF) vehicle model is integrated with an analytical tyre dynamics using Calspan tyre model. The full vehicle model was validated experimentally with an instrumented experimental vehicle based on the driver input from brake or throttle pedals. Several transient handling tests were performed, namely sudden acceleration and sudden braking test. Comparisons of the experimental result and model response with sudden braking and throttling imposed motion are made. The results of model validation show that the trends between simulation results and experimental data are almost similar with acceptable error. An adaptive PID control strategy was implemented on the validated full vehicle model to reduce unwanted vehicle motions in longitudinal direction during sudden braking and throttling manoeuvre. The results show that the proposed control structure is able to significantly improve the dynamic performance of the vehicle during sudden braking and sudden acceleration under various conditions.

Keywords: active suspension; dive and squat; 14 DOF vehicle modelling; adaptive PID control; adaptive control; pitch moment rejection; vehicle suspensions; vehicle motion; longitudinal direction; simulation; tyre dynamics; transient handling tests; sudden acceleration; sudden braking; vehicle testing.

DOI: 10.1504/IJVSMT.2010.038036

International Journal of Vehicle Systems Modelling and Testing, 2010 Vol.5 No.4, pp.312 - 346

Published online: 13 Jan 2011 *

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