School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China.
Key Laboratory of Special Carrier Equipment of Hebei Province, Yanshan University, Qinhuangdao 066004, China.
Sensors (Basel). 2021 Oct 16;21(20):6877. doi: 10.3390/s21206877.
Active suspension control strategies are a top priority in active suspension system. The current research on active suspension control strategies is mostly focused on two-axle vehicles, and there is less research investigating multi-axle vehicles. Additionally, their effective implementation is dependent on accurate mathematical models, and most of them adopt force feedback control, which is vulnerable to external interference. To solve these problems, this paper proposes an active suspension control strategy based on Inertial Measurement Unit. The multi-axle emergency rescue vehicle is made to be equivalent to a 3-degrees-of-freedom parallel mechanism by using the method of grouping and interconnecting the suspension units of the whole vehicle. The attitude change of the vehicle body was transformed into the servo actuator's displacement by solving the inverse solution of the parallel mechanism position and the action of the servo actuator was driven in reverse according to the displacement obtained. In this way, the vehicle body attitude can be compensated, and the ride comfort and the handling stability of the vehicle can be improved. To verify the effectiveness of the control strategy proposed, the three-axle six vehicle was taken as the research object, the position inverse solution of its equivalent 3-degrees-of-freedom parallel mechanism was deduced, and a high-pass filter was designed. The three-axle vehicle experiment platform integrating active suspension and hydro-pneumatic suspension was built, and the gravel road and slope road experiments were carried out and the results compared with those obtained with hydro-pneumatic suspension. The experiment results showed that, compared with hydro-pneumatic suspension, the active suspension control strategy based on Inertial Measurement Unit proposed in this paper can not only stabilize the body attitude, but also effectively suppress body vibration, improving the ride comfort and handling stability of the vehicle significantly.
主动悬架控制策略是主动悬架系统的重中之重。目前，主动悬架控制策略的研究主要集中在两轴车辆上，对多轴车辆的研究较少。此外，它们的有效实施依赖于准确的数学模型，并且大多数采用力反馈控制，这容易受到外部干扰。为了解决这些问题，本文提出了一种基于惯性测量单元的主动悬架控制策略。通过对整车悬架单元进行分组和互联的方法，将多轴应急救援车等效为 3 自由度并联机构。通过求解并联机构位置的逆解和根据获得的位移反向驱动伺服执行器的动作，将车身姿态的变化转化为伺服执行器的位移。这样可以补偿车身姿态，提高车辆的乘坐舒适性和操纵稳定性。为了验证所提出的控制策略的有效性，以三轴六车为研究对象，推导了其等效 3 自由度并联机构的位置逆解，并设计了高通滤波器。建立了集主动悬架和油气悬架于一体的三轴车辆实验台，进行了砂石路和坡路实验，并与油气悬架的实验结果进行了比较。实验结果表明，与油气悬架相比，本文提出的基于惯性测量单元的主动悬架控制策略不仅可以稳定车身姿态，还可以有效抑制车身振动，显著提高车辆的乘坐舒适性和操纵稳定性。
