Feedforward PID Control of Full-Car with Parallel Active Link Suspension for Improved Chassis Attitude Stabilization

TL;DR

This paper introduces a feedforward control strategy combined with PID for active vehicle suspension, significantly enhancing chassis attitude stabilization and handling performance during aggressive maneuvers.

Contribution

The paper proposes a novel feedforward control approach integrated with PID in PALS to mitigate feedback delays in chassis stabilization.

Findings

Improved convergence speed in brake-in-turn and step steer maneuvers.

Enhanced stability allowing higher maneuver speeds without rollover.

Successful simulation of aggressive ISO maneuvers with better suspension response.

Abstract

PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis attitude, which may result in roll over when the vehicle steers at a large longitudinal velocity. To address the problem of the feedback delays in chassis attitude stabilization, in this paper, a feedforward control strategy is proposed to combine with a previously developed PID control scheme in the recently introduced Parallel Active Link Suspension (PALS). Numerical simulations with a nonlinear multi-body vehicle model are performed, where a set of ISO driving maneuvers are tested. Results demonstrate the feedforward-based control scheme has improved suspension performance as compared to the conventional PID control, with faster speed of convergence in brake in a turn and step steer maneuvers, and surviving the fishhook maneuver (although displaying two-wheel lift-off) with 50 mph maneuver entrance speed at which conventional PID control rolls over.