ESP

1) *2) 3)

Design of Active Suspension and ESP for Rollover Prevention

SeongJin Yim1)YoungJin Park*2)YounSik Park3)
1)*2)3)

Department of Mechamical Engineering, KAIST, 373-1, Kusong-dong, Yusong-gu, Daejeon, 305-701, Korea
(Received / Accepted)

Abstract : This paper presents a method to design a controller for rollover prevention using active suspension and ESP. For vehicle systems, rollover is a critical accident and is to be prevented for passenger safety. Active suspension is used to prevent rollover through controlling the height of vehicle. But, this approach has drawbacks in ride comfort deterioration and loss of directional stability. Originally, ESP was developed to maintain directional stability of vehicles. To overcome the drawbacks of the active suspension based method, ESP is additionally considered. Through the simulation, the newly proposed method is shown to be effective in preventing rollover. Key words : Active Suspension( ) ), ESP( ), Rollover( ), Optimal Control(

1.
1990 Utility Vehicle:SUV) . (Van) (Sports

Ungoren et al.1) al.4)

TRW VSC . Chen and Peng

SUV
2),3)

, Palkovics et

SUV . Carlson and Gerdes

5)

(articulated vehicles) Steer By Wire, . Hac

6)

, . Yoon et al.7) ESP

. Volvo . * To whom correspondence should be addressed.

yjpark@kaist.ac.kr

. XC90 .

. Sampson8) . .

anti-roll bar

. .

2.1
Fig.1 (h ), (ay ), (2) . , , (3) . z = [ z c z u1 z u2 ] (1) (2) (3) 4 Fig. 2 Fig.2 .

(Fy )

x = [z ]T z
.

x = Ax + Bu + Lr

Fig. 1 Factors to influence the rollover. Fig.2 4-DOF Vehicle Model ESP ( ) . (full-state feedback) over-steer . ESP . (ay ) under-steer ESP , . over-steer (5) . (4) . ESP ESP (Fy ) (zs zu ) , . . ( ), (static output feedback) . . .

2.2

( ),

( zs zu )

2.

y = [ (zs1 zu1 ) (z s2 zu2 ) (z z ) (z z )] = Cx s1 u1 s2 u2

u = Ky, K
R2
6

(4) (5)

221deg (7) .
z 2 + 2 2 + 3 2 + 4 2 + 5 ( zs zu ) J = 1 c 2 2 2 2 0 + 6 zt1 + 6 zt 2 + 7 u1 + 7 u2 2

14)

. .

1.1 .
dt (7)

10

60km/h CASE1 60km/h, CASE2 . , CASE1 . CASE1 CASE2 CASE2 100k/m

i
J
.9) gradient Strategy)13) .
10-12)

K
(CMA Evolution

. Yoon et al7)

2.3

J
CASE2 . 1) (CASE1), 2) / CASE2 , . Table 1 .
30

. CASE2 .

Fig.3 CASE2

over-steer CASE1
15)

(CASE2)

90km/h

Table 1. Weights on each state for each case 1 2 3 4 5 6 7 CASE1 1e2 CASE2 1e1 1e2 1e1 1e8 1e1 1e4 1e1 1e2 1e8 1e2 1e8 1e-4 1e-4
Y

20

80km/h
10

70km/h 60km/h

-10

2.4
CarSim . CarSim Simulink . 10km/h Fish-hook Matlab SmallSUV

-20

50km/h
-30 100 120 140 160 180 200

CarSim SmallSUV CarSim 50km/h

Fig. 3 The trajectories of vehicle with active . Matlab CASE1 140km/h . Fig.4 CASE1, CASE2 . CASE1 CASE2 suspension at each speed.

CASE2 . CASE2 .

3.2
ESP . Fig.6 . Fig.6

ESP

.2)

Fig. 6 Relationship between the tire slip ratio and Fig.4 Result of bump simulation for each case lateral force (8) . ESP (r ) . Fig.5 ESP . under-steer . over-steer . . Table 3 ESP Simulink ABS ABS CarSim
17)

3.
3.1 ESP
ESP ESP 4

ESP

/ (u ) .

16)

ay = v + u
3.3
ESP

r
ESP

(8)

under-steer over-steer . . Fig.7 .

Fig. 7 Calculation of reference yaw rate Fig.5 Mechanism of ESP

Table 3. Selection for braking wheel LEFT( > 0 ) RIGHT( < 0 ) REAR RIGHT FRONT LEFT ESP /ESP

2 . Fig.9

. ESP

3 .

rd r > 0 rd r < 0
3.4
ESP

REAR LEFT FRONT RIGHT

ESP . 2 110km/h under-steer 110km/h ESP over-steer , 110km/h .

. Fig.8 ESP . Fig.8 100km/h , under-steer

20

ESP . ESP

.
25

120km/h

.
15

130km/h

.
20

110km/h
10

100km/h

80,90km/h

-20

100

120

140

160

180

200

X
60km/h

-40

-60

70km/h 80km/h

Fig. 9 Result of combined controller for each speed.

90km/h 100km/h

-80

-100 100 120 140 160 180 200

ESP 100km/h, 110km/h 150km/h . 120km/h under-steer

Fig. 8 Result of ESP for each speed.

4.
2

ESP

ESP . . ,3 ESP

5.
. . ESP . 2 CASE2 ESP . ESP .

ESP . ESP . 120km/h . .

2005 .

21

References
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