Integrated brake and suspension control during braking and maneuvering.

摘要

As an aid in conceptual development of sophisticated integrated control strategies for torque, brakes, steering, and suspensions in ground vehicles, reasonable physical system models are necessary. These models must be sufficiently complete to include the important dynamics, but not so complex that insight is obscured. This thesis develops several vehicle models of varying complexity that can aid in the design of controllers. The potential use of these models is described. Also, the most complete model has been used to study the possibility of improvement in vehicle handling and stability during combined anti lock braking and steering, using actively controlled suspensions. Bond graphs have been used for the model development. Bond graphs are a powerful modeling technique that allow a priori assessment of model computability through assignment of causality.