차량의 롤각 감소를 위한 ARS 제어 로직 설계 및 실차를 이용한 성능 평가

Developed in this research is a control logic for the ARS(Active Roll Stabilization) system that uses rotary-type hydraulic stabilizer bars. The hydraulic driver component of the system was modeled and designed using AMESim and its simplified Simulink model that captures the system"s nonlinear characteristics was also constructed for faster simulation. The control logic consists of: a feedforward controller that generates anti-roll moments in response to the lateral acceleration, and a feedback controller that forces the roll angle to track its target value. Estimators were also designed so that the controller takes as input estimated values of the lateral acceleration and the roll angle. The developed ARS control logic was first evaluated via simulation and later it was ported to a microcontroller for validation on a test vehicle. The results showed that the roll angle could be decreased to the targeted levels.