Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (3): 610-619.doi: 10.13229/j.cnki.jdxbgxb.20220537

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Control method on hydraulic suspension systems of rescue vehicles based on model predictive feedback technology

Wen-hang LI1(),Tao NI1,2(),Ding-xuan ZHAO3,Ying-jie DENG3,Xiao-bo SHI2   

  1. 1.School of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China
    2.School of Vehicle and Energy，Yanshan University，Qinhuangdao 066004，China
    3.School of Mechanical Engineering，Yanshan University，Qinhuangdao 066004，China
  • Received:2022-05-08 Online:2024-03-01 Published:2024-04-18
  • Contact: Tao NI E-mail:whli19@mails.jlu.edu.cn;nitao@ysu.edu.cn

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Abstract:

Aiming at the problems of actuator nonlinearity， parameter uncertainty and strong model dependence in the existing hydraulic suspension systems of rescue vehicles， a control method of the hydraulic active suspension system-model predictive control method with an extended state observer was proposed. Firstly， the vehicle's pose information was obtained through the on-board inertial navigation system and used to solve the expected displacement output value of each suspension actuator based on pose deviation method. Secondly， dynamic model of the hydraulic suspension system was completed for rescue vehicles， and the nonlinear disturbance and unknown output signal in the system were estimated through an extended state observer. In view of the limitation of the output for the suspension system， a model predictive controller with an extended state observer was proposed to effectively track the expected displacement value of each hydraulic actuator. The vehicle test platform with hydraulic suspension system was built to verify the effectiveness of the control method， and some road tests were carried out by comparing the passive suspension and traditional PID control methods. The research results show that， compared with the passive suspension and the traditional PID method， the proposed active suspension control method reduced the root mean square value of the vertical displacement by 35%， the pitch angle by 17%， and the roll angle by 23%， which significantly improved the ride comfort and handling stability of the vehicle.

Key words: automatic control technology, hydraulic suspension system, extended state observer, model predictive control, feedback control

CLC Number: 

  • TP273

Fig.1

Nine-degree-freedom vehicle model"

Fig.2

Vehicle equivalent replacement model"

Fig.3

Hydraulic suspension actuator model"

Table 1

Parameters of the active suspension system"

符号含义值单位
Mc簧上质量31 990kg
mr簧下质量655kg
IXX方向惯性矩115 000kg·m2
IYY方向惯性矩20 500kg·m2
ku悬架刚度系数1×106N/m
cu悬架阻尼系数8×104Ns/m
kr轮胎刚度系数5×106N/m

Fig.4

Time domain plots of vehicle’s pose under simulated road surface"

Table 2

Root mean square values of the suspension system"

路面类型参数PASPIDESO-MPC
拱形垂向/m0.00180.00070.0006
俯仰角/rad0.00110.00040.0003
侧倾角/rad0.00180.00110.0008
随机垂向/m0.01400.00340.0032
俯仰角/rad0.00650.00210.0011
侧倾角/rad0.00670.00340.0031

Fig.5

Time domain plots of vehicle’s pose under random road surface"

Fig.6

Vehicle test environment"

Fig.7

Time domain plots of vehicle’s pose when driving in straight line"

Fig.8

Time domain plots of vehicle’s pose when one side wheel presses over a single side bridge obstacle"

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