2. Vehicle Modelling Using Active Anti-Roll Bar System

Automotive models, in general, and heavy vehicle models, in particular, play an extremely important role in understanding the roll stability characteristics of the active anti-roll bar system. The model must clearly satisfy the characteristics of the object and be convenient for research, therefore, this chapter focuses on building Yaw-Roll models of a single unit heavy vehicle and a tractor semi-trailer for two cases with rigid frame and flexible frame. The electronic servo-valve hydraulic actuator model is established and combined with the Yaw-Roll model to create the most realistic research model. The vehicle models are after that rewritten in the state-space representation to evaluate the vehicle roll stability in the frequency and time domains. The characteristics of the passive anti-roll bar are also proposed in this chapter. Proposed models will be used in the design of controllers in the next chapters.