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Sur la commande robuste de suspensions automobiles en vue du contrôle global de châssis.

Abstract : The context of the thesis is the automatic in the automotive field and more precisely of the vehicle dynamics for the Global Chassis Control. This work makes continuation, on the one hand with the thesis of Ramirez-Mendoza (1997) on the modelling and the control of passenge vehicles, relating mainly to the control of the lateral dynamics of the vehicle by the steering system, and, on the other hand, with the thesi of Sammier (2001) on the modelling and the control of the automotive suspensions, bearing on the control of vertical comfort and the handling of the vehicle with respect to the vertical requests caused by the road profile.This thesis falls under the continuation of the two preceding theses : the objective is here, firstly to studied the influence which the suspensions have on the lateral vehicle dynamics, and in second place to pilot them to control (or rather to improve) the lateral vehicle dynamics (doing what one calls, the Global Chassis Control). The technique used here is the Hinf control applied to the L TI and LPV systems, which today is a prevailing research orientation field in particular among the techniques known as "robust". This thesis memory is divided into three chapters : the chapter 1 initially exposes the theoretical tools of the Hinf synthesis applied to the Linear Time Invariant and Linear Parameter Varyin systems, then the methods of construction of Linear Fractional Transformation models, finally the algorithms of computation of the singul value mu allowing the robust analysis in stability and in performance ; the chapter 2 presents the quarter suspension model and the full vehicle models used for the controller synthesis and for their analysis, a weil as the performance specifications of the human vibratory comfort, of the handling of the vehicle and of the compromise confort/security ; the chapter 3 is devoted to the strategy of a "global" control of the suspensions. This chapter is divided into two parts: the first one, is devoted to the synthesis of a dynamical output feedback controller which his objective is to improve the performances of the suspension with respect to the vertical road profile inputs; the second one is dedicated to the formulation of a feedforward strategy which his goal is, on the one hand to limit the displacements of the vehicle body during a vehicle acceleration or a braking situation, and, on the other hand, to choose the anti-roll distribution of the suspension system. The chapter finishes with the proposition of a regulation of the anti-roll distribution and of the adaptation of the compromise conforUsafety.
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Submitted on : Friday, September 14, 2007 - 4:06:39 PM
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  • HAL Id : tel-00168419, version 1



Alessandro Zin. Sur la commande robuste de suspensions automobiles en vue du contrôle global de châssis.. Automatique / Robotique. Institut National Polytechnique de Grenoble - INPG, 2005. Français. ⟨tel-00168419⟩



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