Impact load-oriented electro-hydraulic servo active suspension feedback linearization sliding mode robust control method

By combining feedback linearization with sliding mode control, the problems of nonlinear compensation and vehicle vibration suppression of electro-hydraulic servo active suspension under impact loads are solved, achieving high-precision displacement tracking and robust suppression, thus improving the ride comfort and safety of the vehicle.

CN121552850APending Publication Date: 2026-02-24HARBIN UNIV OF SCI & TECH
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Patent Information

Application Number
CN202511781504.6
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-11-29
Publication Date
2026-02-24

AI Technical Summary

Technical Problem

Existing electro-hydraulic servo active suspension systems struggle to simultaneously achieve nonlinear compensation, vehicle vibration suppression, and smooth control input under impact loads. In particular, under strong impact conditions, the suspension deflection is excessive, vehicle vibration decay is slow, and sliding mode control is prone to causing vibration.

Method used

A composite control method combining feedback linearization and sliding mode control is adopted. By establishing a quarter-vehicle two-degree-of-freedom active suspension dynamic model and a valve-controlled hydraulic cylinder nonlinear dynamic model, the electro-hydraulic servo actuator is equivalent to a linear position servo subsystem. Combining sliding mode control design and Lyapunov stability analysis, a boundary layer saturation function is introduced to suppress chattering, thereby achieving high-precision tracking of the desired displacement trajectory of the suspension actuator and robust suppression of vertical vibration of the vehicle body.

Benefits of technology

It significantly improves the ride comfort and safety of the vehicle under impact load conditions, reduces the piston displacement tracking error of the electro-hydraulic servo actuator and the vibration amplitude of the sprung mass, effectively suppresses excessive suspension dynamic deflection and high-frequency vibration, and improves the ride comfort and handling stability of the vehicle.

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Abstract

The invention relates to an impact load-oriented electro-hydraulic servo active suspension feedback linearization sliding mode robust control method, which belongs to the technical field of vehicle active suspension and electro-hydraulic servo control, and comprises the following steps of: firstly, establishing a quarter vehicle two-degree-of-freedom active suspension model; the method comprises the following steps: step 2, constructing a nonlinear dynamic model of the electro-hydraulic servo actuator of the valve-controlled cylinder; step 3, designing a feedback linearization sliding mode composite controller and giving a stability proof; and step 4, carrying out controller parameter setting and simulation comparison. According to the feedback linearization sliding mode robust control method provided by the invention, the nonlinearity and parameter uncertainty of the actuator can be effectively compensated under the impact working conditions of a deceleration strip and the like, the piston displacement tracking error and sliding mode buffeting are remarkably reduced, sprung mass vibration is reduced, the vehicle driving smoothness and attitude stability are improved, and the method is suitable for large-scale popularization and application. The method is suitable for the field of vehicle hydraulic active suspension control.
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