Modeling Ground Vehicles With Active Suspension Kinematics Using Bond Graphs

Alex Beckerman and Francis Assadian

A ground vehicle model is developed as a platform for future studies that can include active suspension kinematics. This model includes six degrees of chassis freedom, nonlinear suspension kinematics and tires, vertical road excitations at each tire, and rack input. Tire orientation, such as toe and camber angles, are modified with a flow source that represents an ideal actuator within the suspension. In future work, this model will be used to test a global control strategy for improving vehicle ride and handling.

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