Control of Variable-Geometry Vehicle Suspensions: Design and Analysis

Description

This book provides a thorough and fresh treatment of the control of innovative variable-geometry vehicle suspension systems. A deep survey on the topic, which covers the varying types of existing variable-geometry suspension solutions, introduces the study. The book discusses three important aspects of the subject: • robust control design; • nonlinear system analysis; and • integration of learning and control methods. The importance of variable-geometry suspensions and the effectiveness of design methods implemented in the autonomous functionalities of electric vehicles―functionalities like independent steering and torque vectoring―are illustrated. The authors detail the theoretical background of modeling, control design, and analysis for each functionality. The theoretical results achieved through simulation examples and hardware-in-the-loop scenarios are confirmed. The book highlights emerging ideas of applying machine-learning-based methods in the control system with guarantees on safety performance. The authors propose novel control methods, based on the theory of robust linear parameter-varying systems, with examples for various suspension systems. Academic researchers interested in automotive systems and their counterparts involved in industrial research and development will find much to interest them in the eleven chapters of Control of Variable-Geometry Vehicle Suspensions. Series Editor’s Foreword Preface Acknowledgements Contents 1 Introduction 1.1 Motivation of Variable-Geometry Suspension Systems 1.2 Overview of Variable-Geometry Suspension Systems: Constructions … 1.3 Motivation of Using Learning Features in Suspension Control Systems 1.4 Contents of the Book References Part I Variable-Geometry Suspension for Wheel Tilting Control 2 LPV-Based Modeling of Variable-Geometry Suspension 2.1 Lateral Vehicle Model Extension with Wheel Tilting Effect 2.2 Model Formulation of Variable-Geometry Vehicle Suspensions 2.2.1 Formulation of Suspension Kinematics 2.2.2 Analytic Solution on the Motion of Double-Wishbone Suspension 2.2.3 Iterative Solution on the Motion of Double-Wishbone Suspension 2.2.4 Model Formulation for McPherson Suspensions 2.2.5 Interactions Between Different Motions in Variable-Geometry Suspension 2.3 Examination on the Motion Characteristics of Variable-Geometry Suspension 2.4 Mechanical Analysis of Actuator Intervention References 3 LPV-Based Control of Variable-Geometry Suspension 3.1 Performances of Variable-Geometry Suspension Systems 3.2 Optimization of Vehicle Suspension Constructions 3.3 Formulation of Weighting Functions for Control Design 3.4 Robust Control Design for Suspension Actuator 3.4.1 Modeling of the Hydraulic Actuator 3.4.2 Robust Control Design for Actuator Positioning Control 3.5 Illustration of the Vehicle Suspension Control Design References 4 SOS-Based Modeling, Analysis and Control 4.1 Motivations 4.2 Analysis-Oriented Formulation of Nonlinear Lateral Vehicle Dynamics 4.2.1 Formulation of Nonlinear Lateral Model 4.2.2 Modeling the Motion in Variable-Geometry Suspension Mechanism 4.3 Analysis of Actuation Efficiency Through Nonlinear Method 4.3.1 Method of Computation for Controlled Invariant Sets 4.3.2 Illustration of the Effectiveness of the Intervention 4.4 LPV-Based Design for Suspension Control System 4.4.1 Model Formulation for Nonlinear Lateral Vehicle Dynamics 4.4.2 Design of Control via LPV-Based Method 4.5 Demonstration Example References Part II Independent Steering with Variable-Geometry Suspension 5 Modeling Variable-Geometry Suspension System 5.1 Dynamical Formulation of Suspension Motion 5.2 Modeling Lateral Dynamics Considering Variable-Geometry Vehicle Suspensions 5.3 Model Formulation for Suspension Actuator References 6 Hierarchical Control Design Method for Vehicle Suspensions 6.1 Suspension Control Design for Wheel Tilting 6.2 Design Methods of Steering Control and Uncertainty 6.3 Coordination of Steering Control and Torque Vectoring 6.3.1 Impact of Scheduling Variable on the Control—An Illustration 6.4 Designing Control for Electro-hydraulic Suspension Actuator 6.4.1 The Control Design Step 6.4.2 Illustration of the Control Effectiveness References 7 Coordinated Control Strategy for Variable-Geometry Suspension 7.1 Motivations 7.2 Distribution Method of Steering and Forces on the Wheels 7.3 Reconfiguration Strategy 7.4 Illustration of the Reconfiguration Strategy References 8 Control Implementation on Suspension Test Bed 8.1 Introduction to Test Bed for Variable-Geometry Vehicle Suspension 8.1.1 Test Bed Construction 8.1.2 Control Architecture in Human-in-the-Loop Simulations 8.2 Implemented Control Algorithm on the Suspension Test Bed 8.2.1 Design on the High Level for Lateral Control Purposes 8.2.2 Low-Level Control for Suspension Actuation 8.3 Illustration of Tuning Parameter Selection 8.4 Demonstration on the Control Evaluation Under … References Part III Guaranteed Suspension Control with Learning Methods 9 Data-Driven Framework for Variable-Geometry Suspension Control 9.1 Control-Oriented Model Formulation of the Test Bed 9.2 Design of LPV Control to Achieve Low-Level Operations 9.3 Demonstration on the Operation of the Control System References 10 Guaranteeing Performance Requirements for Suspensions via Robust LPV Framework 10.1 Fundamentals of the Control Design Structure 10.2 Selection Process for Measured Disturbances and Scheduling Variables 10.2.1 Selection of Values for Measured Disturbances and Scheduling Variables 10.2.2 Selection of Domains for Measured Disturbances and Scheduling Variables 10.3 Iteration-Based Control Design for Suspension Systems References 11 Control Design for Variable-Geometry Suspension with Learning Methods 11.1 Control Design with Guarantees for Variable-Geometry Suspension 11.1.1 Design of the Robust Control 11.1.2 Forming Supervisory Algorithm for Variable-Geometry Suspension 11.2 Simulation Results with Learning-Based Agent 11.3 Simulation Results with Driver-in-the-Loop References Index