Anti-roll moment distribution active suspension

1. A system for controlling a suspension of a vehicle, comprising:

a plurality of sensors, wherein each sensor of the plurality of sensors is configured to measure an operating parameter of the vehicle;

an anti-roll moment module configured to determine a front-to-total anti-roll moment distribution based on at least a first operating parameter of the vehicle measured by a first sensor of the plurality of sensors;

at least one suspension actuator; and

a suspension control module configured to control the at least one suspension actuator based on the determined front-to-total anti-roll moment distribution, wherein

the anti-roll moment module includes a feedforward module configured to determine a feedforward contribution based on at least the first operating parameter of the vehicle, and

the front-to-total anti-roll moment distribution is based on the determined feedforward contribution, wherein

the feedforward module includes a first look-up table,

the first look-up table includes a first plurality of entries,

each entry of the first plurality of entries includes a feedforward contribution value based on a non-linear quasi-static model of the vehicle, and

the feedforward module is further configured to (i) select a first entry of the first plurality of entries of the first look-up table based on the first operating parameter and (ii) determine the feedforward contribution based on the first entry of the first plurality of entries, wherein:

the anti-roll moment module includes a yaw rate module configured to determine a reference yaw rate based on at least the first operating parameter of the vehicle, and

the front-to-total anti-roll moment distribution is based on the determined reference yaw rate, wherein

the yaw rate module includes a second look-up table,

the second look-up table includes a second plurality of entries,

each entry of the second plurality of entries includes a reference yaw rate value based on the non-linear quasi-static model of the vehicle, and

the yaw rate module further is configured to (i) select a first entry of the second plurality of entries of the second look-up table and (ii) determine the reference yaw rate based on the first entry of the second plurality of entries,

the anti-roll moment module including:

an error module configured to determine a yaw rate error based on (i) the reference yaw rate and (ii) a second operating parameter of the vehicle measured by a second sensor of the plurality of sensors, and

a feedback module configured to determine a feedback contribution based on the yaw rate error,

the second operating parameter is a yaw rate of the vehicle, and

the feedback module is configured to determine the feedback contribution by applying a correction to the yaw rate error based on proportional, integral, and derivative terms.

2. The system of claim 1 , wherein the anti-roll moment module includes a front-to-total module configured to determine the front-to-total anti-roll moment distribution based on the feedforward contribution and the feedback contribution.

3. The system of claim 1 , wherein the anti-roll moment module includes:

an adjusting module configured to determine an adjusted feedforward contribution based on (i) the feedforward contribution and (ii) at least one of the yaw rate error or a slip angle of a rear axle of the vehicle, and

a front-to-total module configured to determine the front-to-total anti-roll moment distribution based on the adjusted feedforward contribution and the feedback contribution.

4. A method of controlling a suspension of a vehicle, comprising:

obtaining a plurality of operating parameters of the vehicle;

determining a front-to-total anti-roll moment distribution based on at least a first operating parameter of the plurality of operating parameters of the vehicle;

adjusting at least one controllable suspension actuator of the vehicle based on the determined front-to-total anti-roll moment distribution,

determining a feedforward contribution based on at least the first operating parameter of the vehicle, wherein the front-to-total anti-roll moment distribution is based on the determined feedforward contribution, wherein

determining the feedforward contribution includes selecting a first entry from a first look-up table,

the first look-up table includes a first plurality of entries, and

each entry of the first plurality of entries includes a feedforward contribution value that is based on a non-linear quasi-static model of the vehicle;

determining a reference yaw rate based on at least the first operating parameter of the vehicle, wherein the front-to-total anti-roll moment distribution is based on the determined reference yaw rate, wherein

determining the reference yaw rate includes selecting a first entry from a second look-up table,

the second look-up table includes a second plurality of entries, and

each entry of the second plurality of entries includes a reference yaw rate value that is based on the non-linear quasi-static model of the vehicle:

determining a yaw rate error based on (i) the reference yaw rate and (ii) a second operating parameter of the plurality of operating parameters of the vehicle, wherein the second operating parameter is a yaw rate of the vehicle; and

applying a correction to the yaw rate error based on proportional, integral, and derivative terms to determine a feedback contribution.

5. The method of claim 4 , wherein determining the front-to-total anti-roll moment distribution includes adding the feedforward contribution to the feedback contribution.

6. The method of claim 4 , further comprising determining an adjusted feedforward contribution based on (i) the feedforward contribution and (ii) at least one of the yaw rate error or a slip angle of a rear axle of the vehicle,

wherein determining the front-to-total anti-roll moment distribution includes adding the adjusted feedforward contribution to the feedback contribution.