Research On Active Suspension Control Of Three-Axle Vehicle Based On MPGA-ADRC

As an important part of the chassis,the suspension system of the car can buffer the vibration caused by the uneven road surface,transfer the braking force and driving force between the wheels and the road surface.In general,most cars use passive suspension systems to reduce vibration.However,in the development process of the traditional passive suspension system,there are two problems that have not been solved.One problem is that the spring stiffness and damping parameters of the passive suspension cannot be changed or adapt to the complex and changeable road conditions,so the passive suspension system cannot improve the ride comfort of the vehicle.Another problem is that with the continuous improvement of living standards,people have higher and higher expectations for ride comfort and handling stability of vehicles.Therefore,researchers use active suspension to improve the reliability of suspension performance.As for active suspension system,there are some problems.Parameter uncertainty and unknown pavement disturbance may reduce the performance and safety during driving.Therefore,it is necessary to develop various control technologies to deal with this problem.The project "the key technologies of researching on the special chassis and suspension for high mobility emergency rescue vehicles(including fire fighting vehicles)"(2016YFC0802902),based on the new special suspension technology,combined with the national key research is used by this paper,the special chassis of high mobility emergency rescue vehicle is developed,and the control technology of handling stability and ride comfort of the suspension vehicle is studied by using the control algorithm to optimize the parameters of the controller and the filter to optimize the input variables of the state.Firstly,This paper analyzes the various types of suspension systems at home and abroad,and describes the control strategies and control methods for active suspension systems;Secondly,a simplified mathematical model of three-axle vehicle with nine degrees of freedom and a six-wheel random road surface input model based on the coherence between left and right wheels and the correlation between front and rear wheels were built.According to the requirements of vehicle ride comfort,two kinds of performance evaluation indexes were determined;Describing the ADRC about it's basic principle and composition,The second order ADRC was found by separability principle,and the complex parameters are summarized into five parameters that need to be optimized;Describing the advantages and disadvantages about standard genetic algorithm,and a multi-population genetic algorithm is proposed to optimize the parameters in ADRC.The active suspension control system based on MPGA-ADRC in the real-time simulation is carried out.the road input model,triaxial vehicle state equation and controller model are built respectively by Simulink,the multi-population genetic algorithm code was written with m file,and the parameters of the controller were updated in real time with sim function.The active suspension controller designed in this paper based on mpga-adrc has better performance than passive suspension.