Abstract

Vehicle industries in the last decade have focused on improving ride quality and safety of passenger cars. To achieve this goal, modeling and simulation of dynamic behaviour of vehicles have been widely studied to design model based and robust control strategies. This PhD work presents a new integrated vehicle model and a nonlinear robust controller. The thesis is divided into two main sections: dynamic modeling and controller design.
A new fourteen Degrees of Freedom integrated ride and handling vehicle model is proposed using Lagrangian method in terms of quasi-coordinates. The governing equations are derived considering the interaction between the ride and handling systems, Euler motion of the frames attached to the wheels and body, the load transfer among the wheels, acceleration and braking. A non-dimensional factor called coupling factor is introduced to study the coupling among different DOFs of the dynamic system for a defined vehicle maneuver. The coupling factor is considered as an indicator parameter to demonstrate the advantages of the developed model over the existing dynamic models. The improved model is validated using ADAMS/Car for different manoeuvres. The simulation results confirm the accuracy of the improved dynamic model in comparison with the ADAMS/Car simulations and the models available in the literature.
Considering the proposed nonlinear integrated ride and handling vehicle model, a nonlinear robust controller is designed for an intermediate passenger car. The H∞ robust control strategy is designed based on the Hamiltonian-Jacobi-Isaacs (HJI) function, Linear Matrix Inequality and State Feedback techniques. In order to improve the ride and handling quality of the vehicle, a Magneto-rheological (MR) damper and a differential braking system are used as control devices. A frequency dependent MR damper model is proposed based on the Spencer MR damper model. The parameters of the model are identified using a combination of Genetic algorithms and Sequential Quadratic Programming approaches based on the experimental data. A mathematical model is validated using the experimental results which confirm the improvement in the accuracy of the model and consistency in the variation of damping with frequency. Based on the proposed MR damper model, an inverse model for the MR damper is designed. A differential braking system is designed to assign desired braking action. The dynamic behavior of the controlled vehicle is simulated for single lane change and bump input, considering three different road conditions: dry, rainy and snowy. The robustness of the designed controller is investigated when the vehicle is under these road conditions. The simulation results confirm the interactive nature of the ride and handling systems and the robustness of the designed control strategy.