Active roll control based on predictive control theory is proposed to overcome the detrimental effects of the time delay of hydraulic actuators. A predictive controller is developed based on the simplified linear model of the vehicle, while the simulation is performed on the nonlinear model. The control result is superior compared to that of the conventional feed-forward roll control. A vehicle tends to drift or spin during cornering with braking or acceleration, because of the nonlinear characteristics of the tyre side force. A novel roll distribution control scheme is developed to improve the trajectory stability during this situation by changing the ratio of active roll moment distribution between front and rear axles. The effectiveness of the proposed methods is illustrated by the computer simulations. (A)
Abstract