| Vehicle dynamics control including steering, wheel torque and suspension control continues to improve in today's market. These continued improvements are quickly incorporated to provide the highest levels of safety, performance and comfort. Frequently the designs are created before the technology has been developed for implementation. In the near future computing power and sensor/actuator bandwidth will be available to control the entire vehicle from a centralized system. This system is referred to as a "Global Chassis Controller" and is necessary to prevent negative interference between opposing goals. Presently, it is unclear if such a system can outperform current distributed systems. This work develops and explores several Global Chassis Controllers and analyzes their performance relative to a conventional Yaw Rate Controller. A model reference is used to generate errors. The design of virtual actuators and their efficacy is addressed in several different scenarios. The results indicate a trade off effect between dry road response and slippery road response performance. |
