Rescue vehicle active suspension control method and system based on pavement grade

Abstract

The invention discloses a rescue vehicle active suspension control method and system based on road surface grades. The method comprises the steps that S1, the road surface grades are divided into low-grade road surfaces and high-grade road surfaces through road surface recognition; s2, judging the grade of the road surface, and if the road surface is a low-grade road surface, executing the step S3 and then directly executing the step S5; if the road surface is a high-grade road surface, executing the steps S3 and S4, and then executing the step S5; s3, calculating a ceiling damping force; s4, the output force Fg of the hydraulic cylinder is calculated; s5, actuator control force U is obtained according to the grade of the road surface and used for controlling the active suspension; and S6, evaluating the smoothness of the vehicle by using the dynamic model of the active suspension. The device comprises a road surface grade identification module, a ceiling control module, an anti-interference control module, an actuator module and an active suspension power module. Different active suspension control strategies are adopted for the rescue vehicle on different grades of road surfaces, the adaptability of the vehicle is enhanced, and the driving smoothness and stability of the vehicle are improved.

Description

technical field [0001] The invention relates to the field of vehicle machinery, in particular to a method and system for active suspension control of a rescue vehicle based on a road surface level. Background technique [0002] With the rapid popularization of vehicles, people have higher and higher requirements for the ride comfort of the vehicle. Therefore, the control of the vehicle suspension in the existing research mainly considers the ride comfort of the vehicle. In the traditional suspension control research, on the one hand, when the car is driving on different grades of road surface, it is impossible to continuously and accurately judge the abnormal conditions of the road surface, such as the shape and size of foreign objects, pits and bumps, speed bumps, etc. , it is difficult to pre-control the suspension system and output the optimal damping force to improve the performance of the suspension system. On the other hand, when the current more intelligent active ch...

AI Technical Summary

Problems solved by technology

In the traditional suspension control research, on the one hand, when the car is driving on different grades of road, it is impossible to continuously and accurately judge the abnormal conditions of the road, such as the shape and size of foreign objects, pits and protrusions, speed bumps, etc. , it is difficult to pre-control the suspension system and output the optimal damping force to improve the performance of the suspension system

On the other hand, when the current smarter active chassis is working, it needs to first act on the road surface disturbance to the front wheels of the vehicle in the process of driving before collecting and analyzing road surface signals, and realize the adjustment of the rear wheel suspension through preview control. The active control adjustment of the vehicle makes the vehicle as a whole fail to make reasonable decisions and optimal control of driving safety and comfort in time.

[0003] Moreover, most of the existing studies on vehicle suspension control only use one control strategy to realize the control of the active suspension when the vehicle is driving on all road surfaces, but it cannot achieve good control effects in the face of complex and changeable road surfaces with high unevenness.

Although some studies have considered the influence of road surface roughness on suspension control, they have not studied the suppression of complex and changeable road surface disturbance forces from the perspective of suspension actuators, resulting in limited improvement in vehicle ride comfort and stability.

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