The invention discloses an active suspension control method of a non-road multi-axle vehicle. Wheels of the multi-axle vehicle are connected with a vehicle body through an active suspension system, and each wheel is provided with an active executing mechanism. The control method comprises the following steps: firstly, measuring a vehicle posture and a wheel load of a vehicle at the current moment, and meanwhile, collecting road surface virtual displacement excitation to be borne by each wheel at the next moment by a laser radar; then the wheel load of the vehicle at the next moment is calculated, road surface virtual displacement excitation is compensated for the wheel with the negative load until the load is zero, and the vehicle posture of the vehicle at the next moment is calculated; and finally, the set expected vehicle posture and the wheel load serve as control targets, the vehicle is controlled to run to the road surface virtual displacement excitation position, and all the active execution mechanisms complete synchronous actuation. According to the method, the vehicle posture and the wheel load of the multi-axle vehicle traveling on the complex road surface can be accurately calculated and controlled, and the trafficability, the maneuverability and the stability of the multi-axle vehicle under the complex road surface condition are remarkably improved.
本发明公开一种非道路多轴车辆的主动悬架控制方法。所述多轴车辆的车轮通过主动悬架系统与车身连接,每个车轮均配置一个主动执行机构。所述控制方法首先测量车辆在当前时刻的车姿与轮荷,同时激光雷达采集下一时刻各车轮将承受的路面虚拟位移激励;然后解算车辆在所述下一时刻的车轮载荷,对出现负值载荷的车轮补偿路面虚拟位移激励,直至载荷为零,解算车辆在所述下一时刻的车姿;最后以设定的期望车姿与轮荷为控制目标,控制车辆行驶到所述路面虚拟位移激励的位置且各个所述主动执行机构完成同步作动。本发明可以精确解算、精确控制多轴车辆在复杂路面行进时的车姿与轮荷,显著提升多轴车辆在复杂路面条件下的通过性、机动性和稳定性。
Active suspension control method for non-road multi-axle vehicle
一种非道路多轴车辆的主动悬架控制方法
2024-04-12
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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