Active Roll Control

TRW
TRW Automotive Dsseldorf
Development of TRWs
Active Roll Control
16th European Mechanical Dynamics Users Conference

November 14th-15th, Berchtesgaden, Germany
Dipl.- Ing. Martin Bcker

Systems Engineering
Dipl.- Ing. Ralf Neuking

Advanced Analysis Technology
TRW Automotive Chassis Systems

Global R&D Center Steering & Suspension
TRW Fahrwerksysteme Dsseldorf, Germany
TRW
Overview
Active Roll Control (ARC)
Modelling
Simulation Results
Summary
Active Roll Control
TRW
What is Active Roll Control ?

TRWs Active Roll Control (ARC)
is a new active
suspension system to improve
vehicle roll behaviour and ride comfort
ARC Video
Active Roll Control

System Description
TRW
Suspension Roll Angle
Standard Vehicle
ARC Vehicle
Normal Driving
Region
l
ab
m
am
gr e
o
p r w ar
e
e
fr soft
by
eg
er
ion
Benefits
Roll Angle Control
Ride and Handling Improvement
Improve Subjective Agility
0,3g
0,6g
Lateral Acceleration
a)
ARC system components

b)
f)
c)
e)
d)
g)
a)
b)
c)
d)
e)
f)
g)
Motor Pump Assembly

Valve Block
Steering Angle Sensor
Lateral Accelerometer
Control Unit
Hydraulic Lines
Linear Actuators
Active Roll Control

Cornering Roll
TRW
Cornering Roll with ARC Actuator deflects stabilizer bar.

Body roll angle is minimised.
Cornering Roll without ARC Stabilizer bar deflects due to

body roll motion.
Active Roll Control

Suspension Design Principle
TRW
Bushings
Spring
(to body or subframe)
McPherson Strut
Stabilizer Bar
Connection to
Cross-Over
Valve
Actuator
Lower Control Arm
Active Roll Control

System Function (Straight Ahead Conditions)
TRW
Anti Roll Bars
ARC Valve Block

Version for EAS Vehicles
Connections to
Control Arm
Active Roll Control

System Function (Cornering)
TRW
Anti Roll Bars
ARC Valve Block

Connections to
Control Arm
Active Roll Control

System Function (Changing Direction)
TRW
Anti Roll Bars
ARC Valve Block

Connections to
Control Arm
Active Roll Control

Physical Structure
TRW
TRW Automotive Dsseldorf10
Processing &
Visualization Unit
TRW CPI
TRW
Powerpack
Communication &
Power Interface
Wakeup
Diagnostic
TRW Valve Block

Measuring
Operation modes
Tuning
Valve Powerlines
Diagnostic
Power Supply & Signals
Handwheel
Angle
Lat. Acc.
System
pressure
Converter
Box
Front
Actuator
Rear
Actuator
Velocity
ABS
System
Electrical System
Hydraulic System
TRW
Overview
Modelling
Simulation Results
Summary
Modelling
Coupling of Hydraulic, Mechanical and Control System
TRW
Mechanical System:
ADAMS View model or
ADAMS Car full vehicle model
Cylinder and bracket model
Rear Axle
+
+
Coupling:
Piston force (pressure)
Piston position
Piston velocity (fluid flow)
Front Axle
Hydraulic System:
Differential equation system.
Feed- and return line divided into time
constant, capacitive and inductive
elements.
Valve is a system of adjustable orifices
with time lag characteristic.
Pump modelled as variable flow source.
Diff.-Eqn-System:
p1 =f(Q1,Q2,RCL,t)
p2 =f(Q2,Q3,RCL,t)
...
Coupling:
Switches crossover valve
Drives pressure control valve
Controls MPA
Coupling:
Vehicle velocity
Lateral acceleration
Steering angle
PT1
Control System:
Using ADAMS control tools or
Detailed controller in Matlab/Simulink
Modelling
Hydraulic System
TRW
Valve
Lines and Cylinder

Q
Q Pump
Q
P
L
L
Q
P
Q gap 1
ap
Q DBV
Q
Q gap 3
Q
R
Q
P
C
F, x, x
Crossover
Valve
L
Q
Controller
F, x, x
P
Q
Front
Axle
Q: Fluid Flow P: Pressure R: Resistance C: Capacity L: Inductivity
Rear
Axle
3
4
P0 =1bar
R
ap
ap
Q gap 4
Control.
Rg
ap
Rg
n,M
Rg
Controller
MPA
Pressure
Control
Valve
Q gap 2
Rg
C
C
Feedline
Returnline
MPA
TRW
Overview
Modelling
Simulation Results
Summary
Simulation Results
Roll angle vs. Lateral acceleration
TRW
ARC roll characteristic

roll angle vs. lateral acceleration
8
original suspension test
original suspension sim.
ARC suspension test
ARC suspension sim.
6
4
[deg]
2
0
-2
-4
-6
-8
-8
-6
-4
-2
0
ay [m/s]
Simulation Results
Sinusodial Steer 30 deg at 100 km/h
TRW
Target Pressure
System Pressure
Small Area
Big Area
Simulation Results
Animations
TRW
Without ARC
With ARC
Working Actuator
Overlay
TRW
Overview
Modelling
Simulation Results
Summary
Summary
TRW
TRWs Active Roll Control (ARC) is a new active suspension system

to improve the vehicle roll behaviour and ride comfort. The system
uses hydraulic actuators which replace the conventional stabilizer
links to minimize the vehicle roll angle while cornering.
An ADAMS vehicle simulation was used to reduce the development
time and to optimize the system behaviour.
This coupled simulation of mechanical, hydraulic and control systems
is based on our experience with the analysis of electro-hydraulic
power steering gears.
The control algorithms were developed using Matlab/Simulink and
later coupled to the vehicle simulation in a simplified version.
Sufficient correlation between test and analysis was found, integration
into ADAMS/Car still ongoing.
TRW
Development of TRWs
Active Roll Control
16th European Mechanical Dynamics Users Conference

November 14th-15th, Berchtesgaden, Germany
Dipl.- Ing. Martin Bcker

Systems Engineering
Dipl.- Ing. Ralf Neuking

Advanced Analysis Technology
TRW Automotive Chassis Systems

Global R&D Center Steering & Suspension
TRW Fahrwerksysteme Dsseldorf, Germany

Active Roll Control

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TRW

TRW Automotive Dsseldorf

16th European Mechanical Dynamics Users Conference

Dipl.- Ing. Martin Bcker

Dipl.- Ing. Ralf Neuking

TRW Automotive Chassis Systems