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Kinematic Sensitivity Analysis of the Suspension Characteristics for the Initial Design of Four-Wheel Drive and Four-Wheel Steered Vehicles

Schwartz, Manuel ORCID iD icon 1; Goosmann, Tobias 1; Hohmann, Sören 1
1 Karlsruher Institut für Technologie (KIT)


A procedure for the initial design of a suspension concept with four independently driven and steered wheels is developed, whereby, steering angles above conventional values are considered. To fully exploit the potential of such vehicles, an autonomous closed-loop setup with integrated motion control is utilized. The goal is to obtain statements for an optimal suspension design and parametrization maintaining a general approach, while underlying black-box control and the vehicle configuration remains exchangeable. The investigation of the influence of the chassis parameters, with crucial impact on energy consumption, comfort and driving dynamics, namely camber, caster, scrub radius and the steering axis inclination (SAI) depending on a varying caster angle and SAI in relation to the steering angle will be focused. For this sensitivity analysis, an explicit behavioral-oriented model of the suspension is created. This behavior is evaluated with the resulting driving dynamics, specified as the control error, comfort, regarding maximum acceleration on the passengers, and energy demand of the actuators. Scenarios presented are the ISO double lane change and driving a circle while accelerating. ... mehr

DOI: 10.4271/2020-01-0990
Zitationen: 3
Zitationen: 4
Zugehörige Institution(en) am KIT Institut für Angewandte Materialien - Werkstoffe der Elektrotechnik (IAM-WET)
Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Proceedingsbeitrag
Publikationsdatum 14.04.2020
Sprache Englisch
Identifikator ISSN: 0148-7191
KITopen-ID: 1000118065
Erschienen in WCX SAE World Congress Experience, Detroit, MI, April 21-23, 2020. Proceedings
Veranstaltung WCX SAE World Congress Experience (2020), Detroit, MI, USA, 21.04.2020 – 23.04.2020
Verlag SAE International
Serie SAE technical papers ; 2020-01-0990
Bemerkung zur Veröffentlichung Die Veranstaltung WCX SAE World Congress Experience, Detroit, April 21-23, 2020 wurde aufgrund der Corona-Pandemie abgesagt
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