Self-tuning Control on Integrated System of EPS and SAS Based on Pole Placement

Entire vehicle multi-degree of freedom dynamic model of Semi-Active Suspension(SAS) and Electric Power Steering(EPS) integrated system including yaw, roll and pitching motion is established. Self-tuning integrated control strategy of SAS and EPS integrated system based on pole placement is designed, and approach of on-line identification which combines the pole placement method with least square parameter estimation method is constructed. To carry out the real-time control on system, based on the simulation calculation, the developed adjustable shock absorber and integrated system controller are installed in a certain mini car. Real vehicle road test is carried on, and the simulation results are in good agreement with the test ones. Moreover, under self-tuning integrated control based on pole placement, the peak value and standard deviation of vertical acceleration of centroid, roll angle of vehicle body, pitching angle, yaw angular velocity, side angle of centroid are then reduced, vehicle ride comfort, handling stability and attitude change of vehicle body are improved, entire vehicle overall performance is enhanced.