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.

封面 1

目录 12

1 Introduction 16

1.1 Motivation of Variable-Geometry Suspension Systems 16

1.2 Overview of Variable-Geometry Suspension Systems: Constructions and Control Methods 20

1.3 Motivation of Using Learning Features in Suspension Control Systems 27

1.4 Contents of the Book 31

References 32

Part Ⅰ Variable-Geometry Suspension for Wheel Tilting Control 38

2 LPV-Based Modeling of Variable-Geometry Suspension 40

      2.1 Lateral Vehicle Model Extension with Wheel Tilting Effect 40

      2.2 Model Formulation of Variable-Geometry Vehicle Suspensions 42

      2.2.1 Formulation of Suspension Kinematics 42

      2.2.2 Analytic Solution on the Motion of Double-Wishbone Suspension 44

      2.2.3 Iterative Solution on the Motion of Double-Wishbone Suspension 46

      2.2.4 Model Formulation for McPherson Suspensions 48

      2.2.5 Interactions Between Different Motions in Variable-Geometry Suspension 50

      2.3 Examination on the Motion Characteristics of Variable-Geometry Suspension 52

      2.4 Mechanical Analysis of Actuator Intervention 57

      References 59

3 LPV-Based Control of Variable-Geometry Suspension 60

      3.1 Performances of Variable-Geometry Suspension Systems 60

      3.2 Optimization of Vehicle Suspension Constructions 62

      3.3 Formulation of Weighting Functions for Control Design 63

      3.4 Robust Control Design for Suspension Actuator 65

      3.4.1 Modeling of the Hydraulic Actuator 65

      3.4.2 Robust Control Design for Actuator Positioning Control 67

      3.5 Illustration of the Vehicle Suspension Control Design 69

      References 73

4 SOS-Based Modeling, Analysis and Control 74

      4.1 Motivations 74

      4.2 Analysis-Oriented Formulation of Nonlinear Lateral Vehicle Dynamics 75

      4.2.1 Formulation of Nonlinear Lateral Model 76

      4.2.2 Modeling the Motion in Variable-Geometry Suspension Mechanism 79

      4.3 Analysis of Actuation Efficiency Through Nonlinear Method 80

      4.3.1 Method of Computation for Controlled Invariant Sets 81

      4.3.2 Illustration of the Effectiveness of the Intervention 83

      4.4 LPV-Based Design for Suspension Control System 85

      4.4.1 Model Formulation for Nonlinear Lateral Vehicle Dynamics 85

      4.4.2 Design of Control via LPV-Based Method 87

      4.5 Demonstration Example 90

      References 95

Part Ⅱ Independent Steering with Variable-Geometry Suspension 98

5 Modeling Variable-Geometry Suspension System 100

      5.1 Dynamical Formulation of Suspension Motion 100

      5.2 Modeling Lateral Dynamics Considering Variable-Geometry Vehicle Suspensions 104

      5.3 Model Formulation for Suspension Actuator 106

      References 110

6 Hierarchical Control Design Method for Vehicle Suspensions 112

      6.1 Suspension Control Design for Wheel Tilting 112

      6.2 Design Methods of Steering Control and Uncertainty 114

      6.3 Coordination of Steering Control and Torque Vectoring 117

      6.3.1 Impact of Scheduling Variable on the Control-An Illustration 119

      6.4 Designing Control for Electro-hydraulic Suspension Actuator 120

      6.4.1 The Control Design Step 120

      6.4.2 Illustration of the Control Effectiveness 125

      References 125

7 Coordinated Control Strategy for Variable-Geometry Suspension 128

      7.1 Motivations 128

      7.2 Distribution Method of Steering and Forces on the Wheels 129

      7.3 Reconfiguration Strategy 131

      7.4 Illustration of the Reconfiguration Strategy 137

      References 140

8 Control Implementation on Suspension Test Bed 142

      8.1 Introduction to Test Bed for Variable-Geometry Vehicle Suspension 142

      8.1.1 Test Bed Construction 142

      8.1.2 Control Architecture in Human-in-the-Loop Simulations 144

      8.2 Implemented Control Algorithm on the Suspension Test Bed 145

      8.2.1 Design on the High Level for Lateral Control Purposes 146

      8.2.2 Low-Level Control for Suspension Actuation 148

      8.3 Illustration of Tuning Parameter Selection 151

      8.4 Demonstration on the Control Evaluation Under Human-in-the-Loop Environment 153

      References 155

Part Ⅲ Guaranteed Suspension Control with Learning Methods 156

9 Data-Driven Framework for Variable-Geometry Suspension Control 158

      9.1 Control-Oriented Model Formulation of the Test Bed 159

      9.2 Design of LPV Control to Achieve Low-Level Operations 163

      9.3 Demonstration on the Operation of the Control System 165

      References 166

10 Guaranteeing Performance Requirements for Suspensions via Robust LPV Framework 168

      10.1 Fundamentals of the Control Design Structure 168

      10.2 Selection Process for Measured Disturbances and Scheduling Variables 170

      10.2.1 Selection of Values for Measured Disturbances and Scheduling Variables 171

      10.2.2 Selection of Domains for Measured Disturbances and Scheduling Variables 172

      10.3 Iteration-Based Control Design for Suspension Systems 174

      References 177

11 Control Design for Variable-Geometry Suspension with Learning Methods 178

      11.1 Control Design with Guarantees for Variable-Geometry Suspension 178

      11.1.1 Design of the Robust Control 178

      11.1.2 Forming Supervisory Algorithm for Variable-Geometry Suspension 181

      11.2 Simulation Results with Learning-Based Agent 181

      11.3 Simulation Results with Driver-in-the-Loop 184

      References 188

Index 190

封底 192

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