The invention discloses an NMPC-based hub direct-drive
air suspension system and a cooperative control method, and the suspension
system consists of a sensor module, an expansion observer module, an NMPC controller, a damping coefficient controller, a damping coefficient execution mechanism, an additional
air chamber controller and an additional
air chamber execution mechanism. The input of the NMPC controller is the
vertical displacement and speed of the
sprung mass, the
vertical displacement and speed of the
mass of the tire and the motor rotor, and the
vertical displacement and speed of the
mass of the motor
stator and the residual
unsprung mass, and the output of the NMPC controller is the optimal suspension force. The optimal suspension force of the
system is solved by taking the optimal performance of the suspension system, reducing the eccentric distance of a motor and prolonging the service life of the motor as control targets, the optimal suspension force is distributed through a damping coefficient and an additional
air chamber execution mechanism in sequence, and cooperative control over the damping coefficient of the
air suspension and an additional air chamber is achieved. The vehicle body acceleration, the suspension
stroke, the tire deformation and the motor eccentric distance are further reduced, and the comprehensive performance of the hub direct-drive
air suspension system is improved.