Driving Leveling Control Method with Multi-Actuator Cooperation for Special Vehicles

doi:10.12382/bgxb.2022.0928

Abstract

Abstract:

To meet the requirements of special vehicle driving leveling in the important areas of the national economy and people’s livelihood, such as national defense and emergency rescue, a driving leveling control method with multi-actuator cooperation is proposed based on the theory of multi-agent cooperative consistency control. Firstly, the vertical model of the whole vehicle is decomposed into coupled multi-agent suspension nodes driven by actuators, and the dynamic model of the suspension node is established. Secondly, a trend-guided dynamic reference and reference error based on the suspension working space is constructed to get rid of the dependence of the existing driving leveling control method on the vertical height of the center of mass of the vehicle body. Furthermore, the driving leveling control method with multi-actuator cooperation based on the dynamic reference error is proposed. Finally, the effectiveness of the proposed method is verified with the vehicle system simulation software CarSim. The results show that compared with the whole vehicle leveling algorithm, the proposed algorithm can better achieve driving leveling, and that the leveling accuracy is raised by 1 to 2 orders of magnitude. This study is helpful to further enrich and improve the technology system of the active suspension control system, and provide a completely new idea and specific methodology for solving the driving leveling problem of special vehicles.

Key words: special equipment vehicle, driving leveling, active suspension, multi-actuator, cooperative control

CLC Number:

U461
TP273

ZHANG Cong, LIU Shuang, JIANG Siyuan, LIU Shiji. Driving Leveling Control Method with Multi-Actuator Cooperation for Special Vehicles[J]. Acta Armamentarii, 2023, 44(1): 98-107.

Figures/Tables 10

Fig.1 7-DOF vehicle model

Fig.2 Independent hydraulic active suspension system

Fig.3 Actuator compression and extension

Fig.4 Concave-convex road excitation

Fig.5 Pitch angle and roll angle

Fig.6 Vertical height of suspension node

Fig.7 Vertical velocity of suspension node

Fig.8 Suspension working space

Fig.9 Control force

Fig.10 RMS of pitch angle and roll angle

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