Modeling and field-experiments identification of vertical dynamics of vehicle with active anti-roll bar

This paper deals with modeling and identification of vertical dynamics of the ground vehicle equipped with two active anti-roll torsion bars. A series of field tests of a full-scale drive have been performed, from which multiple displacement and acceleration data of the unsprung and sprung masses have been collected for each vehicle corner. The standard full vertical vehicle model is extended by the developed model of an active anti-roll torsion bar and valve-controlled semi-active shock absorbing damper. Along with the three-dimensional damping map, the nonlinear progressive stiffness of the elastomer-based decoupling unit are identified from the available data. The multi-channel and multi-state linearized dynamic system model is also obtained. Several MIMO transfer characteristics are exemplary shown for comparing the measured frequency response functions and those estimated from the input-output behavior of the full model. The vehicle setup with the anti-roll bars and performed field tests are described along with the drive trajectories and road excitation conditions.