Control method on hydraulic suspension systems of rescue vehicles based on model predictive feedback technology
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.
automatic control technologyhydraulic suspension systemextended state observermodel predictive controlfeedback control
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