This paper discusses an integrated chassis controller for vehicle emulation. The proposed scheme consists of 4-wheel automatic steering for lateral dynamics tracking, and a suspension controller for emulating desired vertical motion. The lateral controller is designed based on the observation that the coupling from vertical to lateral dynamics is weak in the linear operating regime of interest (i.e., for lateral accelerations below 4 m/s2), whereas the suspension controller compensates for the coupling from lateral to vertical dynamics. The efficacy of the proposed method is demonstrated by realistic experiments in an advanced nonlinear simulator.
An integrated chassis controller for automotive vehicle emulation
IFAC, IFAC World Congress, 17 ; 4621-4626
2008
6 Seiten, 12 Bilder, 10 Quellen
Conference paper
English
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