Title: A hierarchical integrated chassis control strategy based on wheel force feedback

Authors: Shiqian Li; Mustafa Ali Arat

Addresses: Intelligent Automotive Systems, Precision and Microsystems Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands ' Intelligent Automotive Systems, Precision and Microsystems Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands

Abstract: The motivation to investigate a novel integrated chassis control (ICC) strategy emerges from recent advances in on-board force transducers. This study proposes a novel hierarchical framework adopting feedback control on tyre force level, and an on-target high level control algorithm including Force Reference Generator and allocation strategy to supervise front steering and braking subsystems. In the proposed method, force reference is generated regarding linear vehicle behaviour and guaranteed to be achievable, bounded by tyre grip limit. Allocation strategy tracks force reference and penalises undesired vehicle body motion, capturing significantly faster dynamics. In order to address the non-linearities and uncertainties of the vehicle model, a modified model reference adaptive control (MRAC) scheme is used, which both stabilises the lateral dynamics and maintains maximum lateral performance. The proposed method is validated and evaluated on a multi-body vehicle model simulation.

Keywords: ICC; integrated chassis control; load-sensing bearing; control allocation; hierarchical control strategy; L1 adaptive control; wheel force feedback; force transducers; feedback control; tyre force level; front steering; braking; tyre grip limit; vehicle body motion; nonlinearity; uncertainty; model reference adaptive control; MRAC; lateral dynamics; lateral performance; multi-body vehicle modelling; vehicle control; simulation; dynamic modelling; vehicle dynamics.

DOI: 10.1504/IJVP.2016.079924

International Journal of Vehicle Performance, 2016 Vol.2 No.4, pp.327 - 352

Received: 16 Dec 2015
Accepted: 15 Jun 2016

Published online: 19 Oct 2016 *

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