Active Roll Stabilization With Disturbance Feedforward Control

Abstract

This article presents a method to design a controller for active roll stabilization (ARS) with a disturbance feedforward control. To design the controller, a linear 1-DOF roll model is adopted. With the model, three feedback controllers, i.e., linear quadratic regulator (LQR), H∞ and sliding mode controller (SMC), are designed. Feedforward controller with the lateral acceleration is designed with a discrete-time state-space equation to improve roll control performance. To estimate the roll angle and the lateral acceleration simultaneously with noisy roll rate measurement, a discrete-time Kalman filter (DTKF) is used. When applying DTKF for state and disturbance estimation, a recursive least square (RLS) is adopted to estimate the parameters of 1-DOF roll model. As an actuator for ARS, an active anti-roll bar (AARB) and a continuous damping control (CDC) are adopted. To verify the performance of the proposed controllers, simulation is conducted on the vehicle simulation package, CarSim®. From simulation, it was verified that the proposed controllers can enhance the performance of active roll stabilization and that the effectiveness of CDC was investigated.

Keywords

• Active roll stabilization (ARS)
• disturbance feedforward control
• discrete-time Kalman filter (DTKF)
• recursive least square (RLS)
• active anti-roll bar (AARB)
• continuous damping control (CDC)