In passenger cars active suspensions have been traditionally used to enhance comfort through body control, and handling through the reduction of the tyre load variations induced by road irregularities. However, active suspensions can also be designed to track a desired yaw rate profile through the control of the anti-roll moment distribution between the front and rear axles. The effect of the anti-roll moment distribution relates to the nonlinearity of tyre behaviour, which is difficult to capture in the linearised vehicle models normally used for control design. Hence, the tuning of anti-roll moment distribution controllers is usually based on heuristics. This paper includes an analysis of the effect of the lateral load transfer on the lateral axle force and cornering stiffness. A linearised axle force formulation is presented, and compared with a formulation from the literature, based on a quadratic relationship between cornering stiffness and load transfer. Multiple linearised vehicle models for control design are assessed in the frequency domain, and the respective controllers are tuned through optimisation routines. Simulation results from a nonlinear vehicle model are discussed to analyse the performance of the controllers, and show the importance of employing accurate models of the lateral load transfer effect during control design.

在乘用车中，主动悬架传统上用于通过车身控制来提高舒适性，并通过减少由道路不规则引起的轮胎负载变化来提高操控性。然而，主动悬架也可以设计为通过控制前后轴之间的抗侧倾力矩分布来跟踪所需的横摆率曲线。抗侧倾力矩分布的影响与轮胎行为的非线性有关，这在通常用于控制设计的线性化车辆模型中很难捕捉到。因此，抗侧倾力矩分布控制器的调整通常基于启发式。本文分析了横向载荷传递对横向轴力和侧偏刚度的影响。提出了一个线性化的轴力公式，并与文献中的公式进行比较，该公式基于转弯刚度和载荷传递之间的二次关系。在频域中评估用于控制设计的多个线性化车辆模型，并通过优化程序调整相应的控制器。讨论了非线性车辆模型的仿真结果，以分析控制器的性能，并展示了在控制设计期间采用准确的横向载荷传递效应模型的重要性。