Decoupling Control Of Active Suspension Of Three-axis Emergency Rescue Vehicle

As a vast superpower,China's geological situation is complex,and various types of geological disasters are complete and frequent.Due to the imperfection of infrastructure in some remote areas where disasters often occur,higher requirements are put forward for emergency rescue vehicles.In order to ensure high ride comfort under complex road conditions,a new type of emergency rescue vehicle with active suspension is urgently needed.The research of active suspension control method for Three-axle vehicle is of great significance.In order to improve the ride comfort and handling stability of the three-axle emergency rescue vehicle,the decoupling controller of the active suspension system is designed in this paper,which is based on the national key research and development project "Research on Key Technologies of special chassis and suspension for high-mobility emergency rescue vehicle(including fire-fighting vehicle)"(project number 2016YFC0802902).The main contents of this paper include:Firstly,the classification of suspension system and its related research status at home and abroad are briefly summarized,and the main research contents of this paper are put forward.Secondly,the model of the interconnected hydro-pneumatic suspension system of three-axle emergency rescue vehicle is established,and the relevant calculation of accumulator,damper hole and hydraulic cylinder is carried out.Thirdly,the relevant dynamic formulas and state equations of suspension are established,and the differential equation According to the decoupled equation,the LQR method is used to calculate the control parameters of the controller.Then,the relevant road excitation model,passive hydro-pneumatic suspension model,related interconnected hydro-pneumatic suspension model and active suspension model based on differential geometry decoupling are established in the software MATLAB/Simulink,and then the simulation is carried out,focusing on the analysis of three-axle vehicles.Vertical acceleration,pitching acceleration and roll acceleration of body mass center are compared and analyzed between active suspension,interconnected hydro-pneumatic suspension and common hydro-pneumatic suspension.Finally,the vehicle test is carried out.First,the mechanical structure,hydraulic system and related signal acquisition and processing system of the vehicle are introduced,and the road test platform is introduced.The comparative tests of active suspension and interconnected hydro-pneumatic suspension are carried out.The results show that the feedback linearization and LQR control methods can effectively improve the ride comfort and handling stability of the vehicle.