Adaptive integrate control in traction control

In this thesis, Three different automotive suspension systems are compared and analyzed, including a passive system and two adaptive suspensions which are using Nonlinear Model Predictive Control (NMPC) architecture. Due to the effect of the Road irregularities, vehicles generate vertical and longitudinal acceleration oscillations. The vehicle suspension system need to respond the road profile to optimize the driving comfort and safety. In the absence of electrification in conventional internal combustion engine vehicles, the passive suspension system is the main solution. However, with the development of electric vehicles, NMPC is an important and mature control solution strategy to solve linear and nonlinear control problems and predict future states while satisfying constraints. The objective of this study to develop an NMPC architecture with preview function for adaptive suspension system. The NMPC architecture with preview can receive road surface information previously and adjust the torque distribution compared to the NMPC architecture without preview. In comparison, the NMPC controller without preview function can only make adjustments when the road profile changes. This case uses a four-wheel vehicle model to simulate the vehicle under four different working conditions based on the vehicle dynamic model. These road profiles include tip-in, variable friction coefficient, step and complex road condition. The performance of the three different suspension systems was evaluated, it consists the images evaluation and KPI data evaluation. In the part of image simulation. It can visually show the comparison of acceleration, tire angular velocity difference and slip ratio. In the part of KPI data evaluation, it evaluates the driving comfort and overall control performance. The final results show that the NMPC control can effectively control the stabilization performance of the vehicle and improve vehicle safety and driving comfort. But compared with the NMPC structure without preview function, the NMPC structure with preview function can be better control the stability of the vehicle and reduce the slip ratio of the vehicle. Especially in complex working conditions, it can adaptively balance the stability and comfort of the vehicle of the vehicle to achieve the best driving state.