7 th July 2005 School of Computing and technology University of Sunderland “Development of an Intelligent Chassis Control system for Improved Vehicle Handling and Ride performance” by Chandrasekaran RENGARAJ Supervisor Dr.Adam ADGAR Co-supervisors Prof Alan WHEATLEY Prof Chris COX Technical Advisor-Vehicle Dynamics Prof David.A.CROLLA

7th July 2005 School of Computing and technology University of Sunderland Why this research? Passive vehicle dynamics systems –steering, suspension, brakes, transmission etc… Active vehicle dynamics systems – ABS, TCS, ARC, ESP,DYC, AFS etc… Active chassis systems are stand-alone in nature – limitations – not effective at limit handling manoeuvres Integration of active vehicle dynamics systems – improves vehicle dynamics

7th July 2005 School of Computing and technology University of Sunderland Past Research and References Integrated Active steering and Variable Torque Distribution improves vehicle handling and stability (Junje He) M.Selby proved that co-ordination between the Dynamic Yaw control and Active Front Steering improves safety and efficiency of action. By Integrating active brake, steering and suspension the vehicle dynamics can be improved. (Trachtler, Hac et al) Reith demonstrated the reduction in stopping distance through chassis networking. Youssef enhanced the vehicle stability through various state estimation techniques and integrated chassis control approach

7th July 2005 School of Computing and technology University of Sunderland Unresolved Issues But the integrated controller development is still largely in the research phase and more than 40 stand alone active systems are existing in today’s modern car Recent research work in the vehicle dynamics field, according to Prof D A Crolla (2005) is characterised by simple vehicle models, often coupled with sophisticated control theory but with ill- specified performance objectives. For example in BMW 5 Series vehicles, the Active Roll Control system unloads the wheel from which the Vehicle Stability Control is demanding braking force. In case of ABS braking, the Continuous Damping Control removes the load from the front wheels and deteriorates the braking avoidance of potential conflicts - co-existent operation – Integration.

7th July 2005 School of Computing and technology University of Sunderland Aims of the investigation: Identify the control authority of different active chassis subsystems. Analyse the behaviour and interaction of co-existing subsystems and evaluate potential conflicts among them. Successfully integrate those systems to improve vehicle dynamics

7th July 2005 School of Computing and technology University of Sunderland Methodology Mathematical modelling and simulation of passive vehicle dynamics. Modelling active chassis subsystems and identifying the control authority of each subsystem in a variety of dynamic manoeuvres. Development of new control strategies/state estimation techniques/actuator designs to integrate the various subsystems.

7th July 2005 School of Computing and technology University of Sunderland Original contribution to knowledge A clear delineation of the control authority of various actively-controlled chassis systems, analysed under a variety of dynamics situations. The establishment of the co-existence protocols between various chassis sub systems. Development of new control strategies for the successful integration of these systems.

7th July 2005 School of Computing and technology University of Sunderland Resources and funding required for this research Software and hardware support: Matlab/ Simulink, MSC.ADAMS 2005, dSPACE, access to high performance computing facilities at SCAT This research is funded by the University through post-graduate academic assistants programme. Any hardware-in-loop simulations (if included) will be funded by the SCAT. 26 research hours/week

7th July 2005 School of Computing and technology University of Sunderland Time scale of work TaskBefore Modelling of Passive vehicle dynamicsDecember 2005 Modelling of Active vehicle dynamics July 2006 Identification of Control authority of various chassis subsystems Feb 2007 Integration of Sub systems December 2007 Development of Integrated Vehicle dynamics Controller June 2008 Thesis writing and submission January 2009