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Design and evaluation of an active electromechanical wheel suspension system
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Mechatronics)
2008 (English)In: Mechatronics (Oxford), ISSN 0957-4158, Vol. 18, no 4, 218-230 p.Article in journal (Refereed) Published
Abstract [en]

This paper presents an electromechanical wheel suspension, where the upper arm of the suspension has been provided with an electric levelling and a damper actuator, both are allowed to work in a fully active mode. A control structure for the proposed suspension is described. The complex design task involving the control of the electric damper and its machine parameters is tackled by genetic optimisation. During this process, these parameters are optimised to keep the power dissipation of the electric damper as low as possible, while maintaining acceptable comfort and road-holding capabilities. The results of the evaluations carried out demonstrate that the proposed suspension can easily adopt its control parameters to obtain a better compromise of performance than that offered by passive suspensions. If the vehicle is to maintain acceptable performance during severe driving conditions, the damper has to be unrealistically large. However, if the electric damper is combined with a hydraulic damper, the size of the electric damper is significantly reduced. In addition, the design of the electric damper with the suggested control structure, including how it regenerates energy, is discussed.

Place, publisher, year, edition, pages
2008. Vol. 18, no 4, 218-230 p.
Keyword [en]
Automotive; Active suspensions; Electric vehicles; Electric dampers
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-11012DOI: 10.1016/j.mechatronics.2007.11.003ISI: 000256114800005ScopusID: 2-s2.0-41149090113OAI: diva2:234419
QC 20100722Available from: 2009-09-08 Created: 2009-09-08 Last updated: 2011-10-18Bibliographically approved
In thesis
1. Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
Open this publication in new window or tab >>Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
2009 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis is focused on individual wheel actuators in road vehicles intended for vehicle motion control. Particular attention is paid to electro-mechanical actuators and how they can contribute to improving vehicle dynamics and safety. The employment of individual wheel actuators at the vehicle's four corner results in a large degree of over-actuation. Over-actuation has a potential of exploiting the vehicle's force constraints at a high level and of controlling the vehicle more freely. One important reason for using over-actuated vehicles is their capability to assist the driver to experience the vehicle as desired. This thesis demonstrates that critical situations close to the limits can be handled more efficiently by over-actuation.

To maximise the vehicle performance, all the available actuators are systematically exploited within their force constraints.  Therefore, force constraints for the individually controlled wheel are formulated, along with important restrictions that follow as soon as a reduction in the degrees of freedom of the wheel occurs. Particular focus is directed at non-convex force constraints arising from combined tyre slip characteristics.

To evaluate the differently actuated vehicles, constrained control allocation is employed to control the vehicle. The allocation problem is formulated as an optimisation problem, which is solved by non-linear programming.

To emulate realistic safety critical scenarios, highly over-actuated vehicles are controlled and evaluated by the use of a driver model and a validated complex strongly non-linear vehicle model.

it is shown that, owing to the actuator redundancy, over-actuated vehicles possess an inherent capacity to handle actuator faults, with less need for extra hardware or case-specific fault-handling strategies.

Place, publisher, year, edition, pages
Stockholm: KTH, 2009. x, 84 p.
Trita-AVE, ISSN 1651-7660 ; 2009:33
autonomous wheel corner, actuators, vehicle dynamics, control allocation, electric vehicles, vehicle modelling
National Category
Engineering and Technology
urn:nbn:se:kth:diva-11005 (URN)978-91-7415-387-3 (ISBN)
Public defence
2009-09-25, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
QC 20100722Available from: 2009-09-08 Created: 2009-09-03 Last updated: 2010-07-22Bibliographically approved

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