Research On Vehicle Active Suspension Control Strategy Based On Road Elevation Information

The performance of suspension system determines the stability,comfort and safety of vehicle.Due to its special working nature and complex working environment,emergency rescue vehicles have higher requirements on the performance of suspension system.Compared with the passive suspension,the active suspension can adjust the suspension parameters in real time according to the requirements of the control strategy,so as to improve the ride comfort of the emergency rescue vehicle in complex road conditions.In this paper,combined with the national key research and development project "high mobility emergency rescue vehicle(including fire vehicles)special chassis and suspension key technology research",in order to improve the ride comfort of three-axis emergency rescue vehicles as the goal,the acquisition method of vehicle front road information and active suspension control strategy combined with vehicle front road information are studied.The terrain scanning system in front of the vehicle is designed,and the method of building the terrain model in front of the vehicle and extracting the road elevation information on the vehicle trajectory is proposed.In order to improve the accuracy of pavement elevation,the interpolation processing is carried out,and the pavement model which can be used as the input of active suspension control system is established.The dynamic model of active suspension system of three-axis emergency rescue vehicle is established.The optimal preview controller and explicit model predictive preview controller for vehicle active suspension are designed based on the road information in front of the vehicle.The simulation results show that the two preview controllers can effectively improve the performance of the suspension system,and the explicit model predictive preview control method has relatively good control effect,which greatly improves the ride comfort of the vehicle.The terrain model construction test of bump pavement in the test site is carried out.According to the test results,the road measurement model which can be used for active suspension control is established,and the road measurement model and theoretical model are taken as road input respectively.The explicit model predictive preview control simulation of vehicle active suspension system is carried out.The results show that the active suspension control strategy based on the road information in front of the vehicle can effectively improve the ride comfort of the vehicle on the bumpy road,and the road measurement error of the terrain scanning system in front of the vehicle has little influence on the control effect.