Journal of Jilin University(Engineering and Technology Edition) ›› 2026, Vol. 56 ›› Issue (9): 2279-2291.doi: 10.13229/j.cnki.jdxbgxb.20250187

   

Synergistic enhancement of vehicle ride comfort and lateral stability using mechatronic inerter

Yu-jie SHEN1(),Zhao-wei LI1,Yan-ling LIU2(),Yi-yuan LI3,Xiao-feng YANG2,Long CHEN1   

  1. 1.Research Institute of Automotive Engineering，Jiangsu University，Zhenjiang 221013，China
    2.School of Automotive and Traffic Engineering，Jiangsu University，Zhenjiang 221013，China
    3.Advanced Vehicle Engineering Centre，Cranfield University，Cranfield MK430AL，Britain
  • Received:2025-03-11 Online:2026-09-01 Published:2026-09-07
  • Contact: Yan-ling LIU E-mail:shenyujie@ujs.edu.cn;liuyl@ujs.edu.cn

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Abstract:

To investigate the synergistic enhancement of vehicle ride comfort and lateral stability through mechatronic ISD （Inerter-Spring-Damper） suspensions， and to explore the impact of switching external electrical networks on mechatronic inerter performance， this study establishes a three-degree-of-freedom vehicle dynamics model considering steering maneuvers. The NSGA-II is employed to optimize the external electrical networks of the mechatronic ISD suspension under various driving conditions. Results demonstrate that the mechatronic ISD suspension without an external electrical network yields marginal performance improvements. In contrast， the configuration that switches external electrical networks based on driving conditions achieves significant reductions of 12.7% and 25.9% in the root mean square values of body acceleration and body roll angle， respectively， markedly enhancing both ride comfort and lateral stability.

Key words: vehicle engineering, suspension, mechatronic inerter, handling stability, external electrical network

CLC Number: 

  • U463.33

Fig.1

Steering model"

Fig.2

Semi-vehicle model"

Table 1

Parameters of the semi-car model"

参　数数值
半车质量m/kg830
半车身质量ms/kg705
非簧载质量mu/kg47.5
前轴到质心的距离la/m1.25
后轴到质心的距离lb/m1.43
左右轮间距ls/m1.62
侧倾中心到质心距离h/m0.24
侧倾转动惯量Ix /（kg·m2）544
横摆转动惯量Iz /（kg·m2）1 300
轮胎刚度kt/（kN·m-1）35

Fig.3

Ball-screw mechatronic inerter"

Fig.4

Schematic diagram of vehicle suspension structure"

Table 2

Passive ISD suspension parameters"

参　数数值
悬架的弹簧刚度K/（kN·m-1）25
悬架的阻尼系数c/（N·s·m-1）1 800
S0悬架的惯容系数bs/kg323
P0悬架的惯容系数bp/kg7

Fig.5

Road input displacement"

Fig.6

Diagram of fishhook steering angle"

Table 3

Performance indicators of passive suspensions under straight-line driving conditions"

性能指标数值
车身加速度的均方根值 J1PAS/（m·s-2）1.254 2
车身侧倾角的均方根值 J2PAS /rad0.028 1
车身侧倾角峰值 J3PAS /rad0.012 0
悬架平均动行程 J4PAS /m0.021 9
轮胎平均动载荷 J5PAS /N1 160.6

Table 4

Performance indicators of passive suspensions under steering conditions"

性能指标数值
车身加速度的均方根值J1PAS/（m·s-2）1.311 9
车身侧倾角的均方根值J2PAS/rad0.097 5
车身侧倾角峰值J3PAS/rad0.028 7
悬架平均动行程J4PAS/m0.029 7
轮胎平均动载荷J5PAS/N1 241.8

Fig.7

Flowchart of NSGA-Ⅱ algorithm"

Table 5

T（s） optimization results for tandem structures"

工况参数数值
直行AS11.435×109
BS13.935×1011
CS12.714×109
DS18 045 184
ES14.786 7×108
FS14.786 7×108
转向AS22.957×108
BS21.305×109
CS27.708×109
DS2817 099.4
ES22.412×107
FS25.694 5×107

Table 6

T（s） optimization results for parallel structures"

工况参数数值
直行AP12.64×108
BP11.399×1010
CP18.04×108
DP12 165 000
EP199 935 300
FP17.309×108
转向AP21.976×108
BP28.682×109
CP21.447×1010
DP2463 984
EP22 879 208
FP291 279 872

Fig.8

Electrical layout of series structure under two working conditions"

Fig.9

Electrical layout of parallel structure under two working conditions"

Table 7

Parameters of external electrical network elements"

结构参数数值
图8（a）电感La1/H0.1
电感La2/H0.16
电阻Ra1/Ω2.5
电阻Ra2/Ω2.7
电阻Ra3/Ω36.6
图8（b）电感Lb1/H0.12
电容Cb1/F0.05
电阻Rb1/Ω19.5
电阻Rb2/Ω7.1
电阻Rb3/Ω6.8
图9（a）电感Lc1/H0.42
电感Lc2/H0.16
电阻Rc1/Ω44.23
电阻Rc2/Ω6.07
电阻Rc3/Ω4.41
图8（b）电感Ld1/H0.4
电容Cd2/F0.013
电阻Rd1/Ω39.64
电阻Rd2/Ω1.43
电阻Rd3/Ω28.45

Fig.10

Body acceleration under straight-line conditions"

Table 8

Suspension performance indicators for straight driving conditions"

指标被动P0改善/%S0改善/%P1改善/%S1改善/%
车身加速度/（m·s-1）1.361 51.324 92.691.254 27.881.235 39.271.117 017.96
侧倾角均方根/rad0.016 40.014 710.370.014 014.630.014 511.590.012 523.78
侧倾角峰值/rad0.045 60.040 411.400.038 116.450.039 214.040.031 930.04
平均悬架动行程/m0.022 60.021 73.980.021 93.090.020 49.730.020 111.06
平均轮胎动载荷/N1 275.61 322.8-3.691 185.67.061 321.0-3.561 163.88.76

Fig.11

Suspension working space under straight-line operating conditions"

Fig.12

Dynamic tire loads in straight line conditions"

Fig.13

Radar diagram of suspension performance parameters under straight line conditions"

Table 9

Suspension performance indicators under steering conditions"

指标被动P0改善/%S0改善/%P2改善/%S2改善/%S1改善/%
车身加速度/（m·s-1）1.399 61.362 92.621.311 96.271.275 18.891.265 49.591.142 418.38
侧倾角均方根/rad0.032 50.030 85.230.029 78.620.028 412.620.024 325.230.033 6-3.38
侧倾角峰值/rad0.099 20.096 82.420.097 51.710.085 713.610.073 326.110.098 70.50
平均悬架动行程/m0.029 80.029 12.350.029 70.340.024 418.120.022 125.840.028 44.69
平均轮胎动载荷/N1 375.31 359.11.181 241.89.711 272.67.471 227.910.721 264.88.04

Fig.14

Body acceleration under steering condition"

Fig.15

Comparison of body roll angle of different suspension structures"

Fig.16

Comparison of body roll angle of different electrical network structures"

Fig.17

Suspension working space under steering conditions"

Fig.18

Dynamic tire loads under steering conditions"

Fig.19

Radar diagram of suspension performance parameters under steering conditions"

Fig.20

Comparison of Pareto frontiers for two electrical network structures"

Fig.21

S3 suspension structure diagram"

Fig.22

Comparison of body roll angle"

Fig.23

S3 suspension performance indicators radar chart"

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