Global Chassis Control System Using Suspension, Steering, and Braking Subsystems

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/263424/figures/263424.fig.0021a.svgz" name="263424.fig.0021a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Steering wheel angle (<svg height="9.49473pt" id="M378" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 6.84582 9.49473" width="6.84582pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M494 514C482 587 419 712 303 712C238 712 174 667 174 603C174 561 205 514 249 449C219 438 187 422 162 407C93 366 23 283 23 177C23 69 87 -12 190 -12C244 -12 288 5 328 33C406 87 444 170 444 249C444 329 404 391 331 475C265 550 222 605 222 627C222 647 238 657 267 657C355 657 421 585 484 499L494 514ZM359 234C359 143 319 30 219 30C172 30 114 75 114 178C114 275 163 343 195 378C212 397 241 415 269 425C305 382 359 313 359 234Z" id="g113-226"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="517" vert-adv-y="517"></glyph.data></g></svg>)</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/263424/figures/263424.fig.0021b.svgz" name="263424.fig.0021b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Lateral acceleration (<svg height="12.1828pt" id="M379" style="vertical-align:-3.429461pt" version="1.1" viewbox="-0.0498162 -8.75334 7.65486 12.1828" width="7.65486pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,6.544,-.222)"><path d="M-248 570C-248 598 -269 620 -296 620C-321 620 -343 598 -343 570C-343 544 -321 522 -296 522C-269 522 -248 544 -248 570ZM-80 570C-80 598 -101 620 -128 620C-153 620 -175 598 -175 570C-175 544 -153 522 -128 522C-101 522 -80 544 -80 570Z" id="g117-5"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 393C556 426 537 448 514 448C496 448 478 435 471 420C468 414 462 401 466 394C473 382 480 368 480 346C480 268 392 143 338 67H336C329 163 319 253 309 330S286 448 254 448C215 448 160 383 127 337L143 311C167 344 200 373 208 373S222 365 229 320C246 214 264 66 268 -20C219 -83 131 -171 17 -239L25 -261L137 -235C248 -110 273 -79 335 8C384 77 481 215 520 287C544 332 556 363 556 393Z" id="g113-122"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="579" vert-adv-y="579"></glyph.data></g></svg>)</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/263424/figures/263424.fig.0021c.svgz" name="263424.fig.0021c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Yaw rate (<svg height="13.0048pt" id="M380" style="vertical-align:-3.42939pt" version="1.1" viewbox="-0.0498162 -9.57541 8.63352 13.0048" width="8.63352pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,7.033,-1.044)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z" id="g117-11"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M642 419L635 448C586 435 552 411 532 392C518 379 509 351 496 304C484 260 462 196 445 150C424 93 388 40 314 30L413 508L406 510L344 491L257 36C205 46 175 84 175 169C175 195 180 241 185 277C189 304 190 331 190 358C190 413 175 448 141 448C111 448 69 429 23 373L30 347C51 365 68 375 81 375C93 375 108 368 108 327C108 307 104 268 101 239C98 211 95 180 95 155C95 33 159 -8 248 -14L213 -186C206 -220 221 -254 230 -261L261 -230L306 -11C339 -4 366 6 389 20C431 46 473 87 503 155C533 224 557 286 571 325C586 367 606 393 642 419Z" id="g113-245"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="654" vert-adv-y="654"></glyph.data></g></svg>)</td></tr></table>

<div>Split <svg height="9.39034pt" id="M377" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 7.34167 9.39034" width="7.34167pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M538 96L524 119C492 88 454 63 446 63C439 63 434 70 440 101C463 223 491 341 518 448H508L433 422L401 276C355 192 240 56 188 56C163 56 154 89 163 133C184 233 207 338 235 443L230 448L152 424L58 17C40 -60 23 -143 23 -185C23 -241 42 -261 63 -261C92 -261 117 -241 125 -227L124 -221C109 -209 89 -165 89 -103C89 -55 96 -13 105 26H107C121 -3 134 -12 151 -12C172 -12 194 -5 221 16C279 61 330 124 384 194H386C381 159 377 141 368 105C343 3 363 -12 383 -12C416 -12 486 35 538 96Z" id="g113-234"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="555" vert-adv-y="555"></glyph.data></g></svg>-surface braking test.</div>

Mathematical Problems in Engineering

fig21

Figure 21

Figure 21: Global Chassis Control System Using Suspension, Steering, and Braking Subsystems 