Multi-actuator Cooperation Empowered Active Suspension Control Method for Special Vehicles

doi:10.3901/JME.2025.08.228

Abstract

Abstract: A multi-actuator cooperation empowered active suspension control methodology is proposed for driving leveling and riding comfort of special vehicles. A fully driven suspension nodes dynamics model aimed at controller design is established by decomposing the entire vehicle into coupled suspension nodes driven by actuators. An error-based cooperative controller and an error-based extended state observer are proposed to achieve high-precision driving leveling regarding the fact that the system states are unmeasurable but the errors can be solved. A new perspective from ‘surface’ to ‘point’ is developed to expand new ideas and methods for improving riding comfort. The classic acceleration damping driven control method is organically integrated into the driving leveling framework to achieve the dual goals of driving leveling and ride comfort. The effectiveness of the proposed method is verified by Carsim. The results show that compared with the pure driving leveling control method, its driving leveling effect is equivalent and its riding comfort characteristics are better; Compared with classic acceleration damping driven control methods, the proposed method further enhances the riding comfort caused by the advantages of the driving leveling framework.

Key words: active suspension, cooperative control, driving leveling, riding comfort, extended state observer

CLC Number:

U461
TP273

ZHANG Cong, LIU Shuang, ZHAO Dingxuan, WEI Yanqiao, LIU Shiji. Multi-actuator Cooperation Empowered Active Suspension Control Method for Special Vehicles[J]. Journal of Mechanical Engineering, 2025, 61(8): 228-239.

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