Study on control of vehicle attitude and ride comfort based on full-car model

Based on full-car model, an integrated control strategy which consists of filtered LQR and sky-hook damping control is studied. Adopting easily measurable vehicle body accelerations and suspension deflections, a filtered LQR controller was designed. LQR controller enhances vehicle ride quality on a large scale. Leveling on vehicle attitude was implemented by controlling suspension deflections and movements of vehicle body heave, pitch and roll. After these, vehicle stability is promoted when excited by discrete load disturbances. In the process of designing attitude controller, a method named by input decoupling transformation was used to transfer the movement of vehicle body heave, pitch and roll to suspension related movement. Simulation results show that active suspension controlled by attitude controller plus ride controller, compared with passive suspension and active suspension controlled by exclusive ride controller, can not only enhance ride comfort, but also promote attitude leveling ability for road vehicle. So, this control strategy and full car controller in this paper are of researching and application values in engineering practice.