文章基本信息

标题：Stiffness and damping real-time control algorithms for adjustable suspensions : A strategy to reduce dynamical effects on vehicles in off-road conditions
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作者：Mathieu Deremetz ; Roland Lenain ; Benoit Thuilot 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1958-1964
DOI：10.1016/j.ifacol.2017.08.1565
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, the problem of dynamical effects of ground irregularity or stability of vehicles in off-road conditions is addressed thanks to a dynamic analysis of the vehicle. In particular, the choice of suitable real-time values for the stiffness and the damping of adjustable suspensions, in order to reduce dynamical effects, is investigated thanks to the analysis of a Laplace transfer function describing the mechanical behaviour of the vehicle. Moreover, a decoupled load transfer computation to identify the suspended masses on each suspension is used and a way to modify in real time suspension parameters by modifying the settling time value in order to drive over obstacles is proposed. This new point of view may permit to use effectively adjustable suspensions in off-road context. Previous approaches indeed only focus on the control of adjustable suspensions on road or by using an actuator in parallel of the suspension and are often dedicated to the driver comfort.
关键词：KeywordsIntelligent controllersMechatronic for Mobility SystemsMobile RobotsField roboticsAutonomous vehicles in agricultureRoboticsmechatronics for agricultural automation