The invention discloses an active suspension vehicle and a control method thereof. Each wheel of the active suspension vehicle is provided with an active executing mechanism with a telescopic adjusting function. The control method comprises the steps that firstly, a bearing and deformation combined control matrix of the vehicle is constructed, and current vehicle body state parameters are measured; determining the vertical displacement excitation to be borne by each wheel at the next moment of the current moment by a front road preview system, and calculating the passive response of the vehicle height, the vehicle posture and the wheel load at the next moment in advance; determining the vehicle height, the vehicle posture and the feasible wheel load expectation at the same moment, and reversely calculating the active suspension adjusting quantity when the vehicle runs to the vertical displacement excitation; and finally, the driving vehicle pursues the vehicle height, the vehicle posture and the feasible wheel load expectation in real time through active adjustment. According to the invention, synchronous and active control of vehicle height, vehicle posture and wheel load distribution during traveling of vehicles with any axle number can be implemented, and the trafficability, maneuverability and stability of the vehicles on complex road surfaces are remarkably improved.

    本发明公开主动悬架车辆及其控制方法。所述主动悬架车辆的每个车轮均配置有一个具有伸缩调节功能的主动执行机构。所述控制方法首先构造车辆的承载与变形联合控制矩阵,并测量当前的车体状态参数;由前路预瞄系统确定当前时刻的下一时刻各车轮即将承受的垂向位移激励,超前解算所述下一时刻的车高车姿与轮荷的被动响应;确定同一时刻的车高车姿和可行轮荷期望,并逆向解算车辆行驶到该垂向位移激励时的悬架主动调节量;最后通过主动调节使行驶中的车辆实时追逐所述的车高车姿和可行轮荷期望。本发明可实施任意轴数车辆行进间的车高车姿和轮荷分配的同步、主动控制,显著提升车辆在复杂路面下的通过性、机动性和稳定性。


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    Title :

    Active suspension vehicle and control method thereof


    Additional title:

    主动悬架车辆及其控制方法


    Contributors:
    ZHANG FAN (author) / CAI JINTIAN (author) / LI CHU (author) / GANG XIANYUE (author) / LI LIJUN (author) / JIAO XUEJIAN (author)

    Publication date :

    2023-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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