Effect of Suspension Roll Angle Sensors on the Performance of H_∞ Active Antiroll Bar Control System of Trucks

Table 1

Variables of the yaw-roll model [2, 4].

Symbols	Description	Values
ms	Sprung mass	12487 kg
mu;f	Unsprung mass on the front axle	706 kg
mu;r	Unsprung mass on the rear axle	1000 kg
m	The total vehicle mass	14193 kg
h	Height of CG of sprung mass from the roll axis	1.15 m
hu;i	Height of CG of unsprung mass from the ground	0.53 m
r	Height of roll axis from the ground	0.83 m
Cf	Tire cornering stiffness on the front axle	582 × 10^3 kN/rad
Cr	Tire cornering stiffness on the rear axle	783 × 10^3 kN/rad
kf	Suspension roll stiffness on the front axle	380 × 103 kNm/rad
kr	Suspension roll stiffness on the rear axle	684 × 10^3 kNm/rad
bf	Suspension roll damping on the front axle	100 × 10^3 kN/rad
br	Suspension roll damping on the rear axle	100 × 10^3 kN/rad
ktf	Tire roll stiffness on the front axle	2060 × 10^3 kNm/rad
ktr	Tire roll stiffness on the rear axle	3337 × 10^3 kNm/rad
Ixx	Roll moment of inertia of sprung mass	24201 kgm^2
Ixz	Yaw-roll product of inertia of sprung mass	4200 kgm^2
Izz	Yaw moment of inertia of sprung mass	34917 kgm^2
lf	Length of the front axle from the CG	1.95 m
lr	Length of the rear axle from the CG	1.54 m
	Half of the vehicle width	0.93 m
µ	Road adhesion coefficient	1
	Forward velocity	—
	Components of the forward velocity	—
ay	Lateral acceleration	—
β	Side-slip angle at the center of mass	—
ψ	Heading angle	—
	Yaw rate	—
α	Side slip angle	—
	Sprung mass roll angle	—
	Unsprung mass roll angle	—
δf	Steering angle	—