Research on Steering and Suspension–Integrated Control Based on Robust MPC Considering Road Vibration Prediction

Abstract

The steering and suspension systems, as key actuators of intelligent vehicles, have a significant impact on vehicle handling stability and ride comfort. However, in view of the coupling between them, it is difficult to balance the above two aspects of performance when controlled separately. To improve the comprehensive control effect of the automobile chassis system, this paper presents an integrated control method for active steering and active suspension system (ASS) based on robust model predictive controller (MPC) considering road vibration prediction. The designed controller considers the motion of the vehicle in yaw, roll, pitch, and vertical directions. Based on the established vehicle dynamics model, road surface model, and driver model, the integrated system control framework is constructed. Then, the proposed robust MPC (R-MPC) with road vibration prediction is testified through simulation. The results show that the R-MPC has better anti-interference ability than the MPC method under road excitation or slippery road condition, and the comprehensive performance of vehicle handling stability and ride comfort can be improved through road vibration prediction.