Research On Vehicle Attitude Stability Control With MEMS Gyroscope

In order to improve the efficiency of emergency rescue work.High-mobility emergency rescue vehicle is necessary to keep the vehicle in a stable position on the road surface of different grades by controlling the active suspension to make the body as an inertial stabilization platform,so that the rescue missions can also be carried out while traveling.Based on the national key research and development project "Research on Key Chassis and Suspension Key Technologies for High-Mobility Emergency Rescue Vehicles(including Fire Fighting Vehicles)"(Projec No.2016YFC0802902),applying the MEMS inertial technology to the pose control of vehicle active suspension systems.The data processing method of MEMS gyroscope is theoretically studied.And an improved Skyhook Controller and linear ADRC controller suitable for active suspension system are designed,so as to achieve the control goal of suppressing the vehicle's vertical motion,roll and pitch motion caused by various disturbances when the vehicle is driving.In this paper,a time series-based gyroscope random drift error modeling method is proposed,and the data is corrected by Kalman filtering are firstly presented.Then based on the reasonable simplification of the active suspension system,the dynamic modeling and research analysis of the three-axis vehicle passive suspension system and the three-axis vehicle active suspension system are performed.An improved vehicle Skyhook Damper Control strategy and a vehicle attitude stability control strategy based on Linear Active Disturbance Rejection Control technology are proposed.In order to verify the design of the active suspension system controller,this paper uses MATLAB / Simulink environment to build a vehicle simulation model,and performs a simulation analysis of the active and passive suspension system under the C-level random road surface excitation.Then the test vehicle was used to conduct the road test of the active and passive suspension.The simulation and experimental analysis show that the improved effect of maintaining the posture and level of the active suspension controlled by the improved Skyhook Damper Control strategy and linear ADRC strategy is significantly better than that of the passive suspension,and the ride comfort is also greatly improved.