A Frequency Compensation Algorithm of Four-Wheel Coherence Random Road

Table 1

Parameters of the 𝐶-class sedan.

Symbol	Description	Unit	Value
𝑚	Vehicle sprung mass	kg	2110
𝑚𝑓𝑙	Front/left unsprung mass	kg	58.3
𝑚𝑓𝑟	Front/right unsprung mass	kg	58.3
𝑚𝑟𝑙	Rear/left unsprung mass	kg	63.3
𝑚𝑟𝑟	Rear/right unsprung mass	kg	63.3
𝑘𝑡𝑓𝑙	Front/left vertical tyre stiffness	N/m	235000
𝑘𝑡𝑓𝑟	Front/right vertical tyre stiffness	N/m	235000
𝑘𝑡𝑟𝑙	Rear/left vertical tyre stiffness	N/m	235000
𝑘𝑡𝑟𝑟	Rear/right vertical tyre stiffness	N/m	235000
𝑘𝑠𝑓𝑙	Front/left spring stiffness	N/m	27500
𝑘𝑠𝑓𝑟	Front/right spring stiffness	N/m	27500
𝑘𝑠𝑟𝑙	Rear/left spring stiffness	N/m	31300
𝑘𝑠𝑟𝑟	Rear/right spring stiffness	N/m	31300
𝑙𝑓	Distance between front-axle/c.o.g. G	m	1.455
𝑙𝑟	Distance between rear-axle/c.o.g. G	m	1.515
𝑤	Wheel track	m	1.610
𝐼𝛽	Sprung mass roll moment of inertia	kg⋅m^2	710.1
𝐼𝛼	Sprung mass pitch moment of inertia	kg⋅m^2	3668.5