250 results about "Electric bus" patented technology

A low floor electric bus includes a frame extending longitudinally from a front end to a rear end, the frame having two sidepieces and a plurality of crossmembers extending between and coupled to the sidepieces, wherein the frame has a central section positioned at a lower height relative to the front and / or rear sections. The bus further includes a battery pack mounted to the central section of the frame; a powertrain having an electric motor and a driveshaft, wherein the electric motor is mounted to the rear section of the frame behind a rear axle coupled to the frame and the driveshaft extends from the electric motor to the rear axle; and a cradle coupled to the front section of the frame. A mixed-material cabin is also provided. The cabin includes a passenger cabin with a floor, sidewalls, and ceiling having steel, ceramic, and composite components.

A wind-photovoltaic ratio system optimization configuration method for a new energy hydrogen production park, the method comprising the steps of: S1) calculating an output time series of local wind power and photovoltaic power generation, and analyzing wind power and photovoltaic output characteristics and a wind-photovoltaic correlation; S2) establishing equivalent device models of a hydrogen energy storage unit and an electrochemical energy storage unit to form an electric bus power balance and hydrogen bus power balance relationship, and taking the minimization of a full life cycle cost as an objective function and taking into consideration constraint conditions such as the power balance, device operation characteristics and a land restriction to establish a system planning optimization configuration model for a new energy hydrogen production park, which model takes a wind-photovoltaic ratio into consideration; S3) integrating the objective function and the constraint conditions to obtain a system planning and optimization configuration scheme for the new energy hydrogen production park and the total system configuration cost; and S4) taking into consideration an electricity price factor and an energy storage operation characteristic constraint, performing annual hydrogen production timing operation simulation, and analyzing a park electricity purchase demand and a new energy consumption capacity under the present planning optimization configuration scheme.

The invention discloses an electric bus charging and discharging combined scheduling method, and belongs to the field of intelligent bus scheduling. The method comprises the following steps: firstly, collecting an operation plan and time-of-use electricity price data of an electric bus, and then constructing an electric bus participation vehicle network integration charging and discharging scheduling model which comprehensively considers cost benefits; the model can decide the optimal charging and discharging strategy of each electric bus according to the operation plan and the residual electric quantity of the electric bus and the real-time electricity price of a power grid, so that the bus operation requirement is met, the charging at the electricity price valley period and the discharging at the electricity price peak period can be fully realized, and the charging and discharging efficiency is improved. Therefore, the charging cost is reduced and the electricity selling income is maximized. Through the method, the electric bus not only can meet the requirements of public transportation, but also can participate in peak load shifting of a power grid, efficient utilization of energy and maximization of economic benefits are achieved, and powerful technical support is provided for sustainable development of the electric bus.

The invention provides an electric motor coach whole vehicle OTA upgrading control method based on a BMS and a VCU, a temperature control dynamic threshold value and a multi-sensor weighted scoring algorithm are adopted, the BMS adaptively adjusts an SOC threshold value according to the battery temperature, the VCU synthesizes the vehicle speed, a hand brake and other states to generate upgrading condition evaluation, a user portrait database and a logistic regression model are combined, and the whole vehicle OTA upgrading control method based on the BMS and the VCU is obtained. Differentially pushing popup windows and predicting user cancel behaviors, implementing a block verification and low-temperature delay write-in strategy, dynamically optimizing remaining time display and low-bandwidth mode switching by a VCU, constructing a multi-stage rollback strategy library, automatically selecting a rollback path according to failure reasons, and cooperating with a safe restart mechanism of key state linkage; and in combination with NLP analysis user feedback driving system iteration, the low-temperature environment compatibility, the user interaction experience and the upgrading success rate are effectively improved, and a closed-loop optimized OTA upgrading ecological system is formed.

The invention provides a multi-source data fusion driven electric bus battery SOC prediction method. According to the method, firstly, data preprocessing and feature extraction are performed on collected electric bus operation data, then, for the problem that a traditional model is insufficient in complex time sequence data feature extraction capability, on the basis of a TFT model, the time sequence feature learning advantage of an LSTM network is fused, an improved TFT model is constructed, and the time sequence feature extraction capability of the LSTM network is improved. The combined modeling capability of the model for short-term change and long-term dependence features is enhanced, and the improved TFT model can select and process extracted multi-dimensional data features. A prediction result of the improved TFT model is compared with an existing typical prediction model, and the prediction performance of the improved TFT model is superior to that of the existing prediction model on a plurality of evaluation indexes. The electric bus battery SOC prediction method provided by the invention has prediction stability and accuracy under complex charging and discharging working conditions, and provides technical support for energy consumption management and intelligent control of the electric bus.

The invention discloses a method and equipment for constructing a bus carbon emission factor library of unit passengers, and a medium. The method comprises the steps: obtaining a bus network, and estimating bus attribute parameters including the bus passenger capacity, the bus speed and the bus size; calculating an energy consumption factor, a fuel consumption factor, a fuel combustion carbon emission factor, a cold start carbon emission factor and / or a lubricant carbon emission factor of the bus so as to estimate direct carbon emission of the bus; calculating the total carbon emission of the corresponding oil well to oil tank stage of the bus, the carbon emission factor of the corresponding oil well to oil tank stage of the electric bus, the carbon emission factor of the whole life cycle of the bus and / or the infrastructure carbon emission factor of the bus so as to estimate the indirect carbon emission of the bus; and deriving individual-level, grid-level, region-level, link-level and line-level bus carbon emission factors according to the estimated direct and indirect carbon emission of the bus.

The invention provides a commercial electric bus operation scheduling method and system under vehicle-network combination, and belongs to the field of electric bus resource optimization configuration, and the method comprises the steps: building a coupling network model of a power distribution network and a traffic network and a corresponding bus timetable; constructing an electric bus fleet optimization problem model and a constraint condition model in the coupling network of the power distribution network and the traffic network; obtaining electricity price, bus battery parameters and service income; and based on the bus operation time table, inputting the electricity price, the electric bus parameters and the service income information into the electric bus fleet optimization problem model, solving to obtain the optimized operation parameters of the electric bus fleet and the scheduling parameters of the power distribution network, and obtaining an electric bus scheduling scheme. And meanwhile, the flexibility of a power grid and the operation benefit of an electric bus commercial fleet are improved.

The invention discloses a subway electric bus braking training system and method based on online fault diagnosis, the system comprises a fault injection system and a braking platform, the fault injection system comprises a fault operation platform, and the fault operation platform is used for sending a real object fault signal and a software simulation fault signal; the braking platform comprises a local console, and the local console is used for receiving the real object fault signals and the software simulation fault signals and controlling and executing real object fault actions and software simulation fault actions so as to achieve training of hardware braking faults and software braking faults of the subway electric passenger cars. According to the invention, the purpose of teaching and training metro workers can be achieved, and the comprehensive fault processing capability of the metro workers can be improved.

The invention discloses a bus dynamic scheduling method and system based on vehicle management, and the method comprises the steps: building a scheduling environment simulation system through collecting the historical data and real-time data of the operation of an electric bus, automatically generating passenger travel information based on bus line data and historical passenger getting-on data, carrying out the modeling of the bus operation as a dynamic discrete process, and carrying out the real-time scheduling of the electric bus. Constraints such as vehicle availability and charging limitation are introduced, and a bus operation simulation environment close to reality is constructed; establishing a Markov decision process based on a scheduling simulation environment, and definitely defining vehicle availability management parameters in a state space and a reward function; a Rainbow DQN model is adopted for training, a scheduling strategy is continuously optimized according to environment feedback, a dynamic scheduling scheme is generated by utilizing the model obtained through training according to real-time data reasoning, the travel requirements of passengers and the operation benefits of a bus company are considered on the premise that the vehicle availability is met, and intelligent scheduling decision support is provided for management personnel.

A charging system includes: a power converter configured to receive power from an external power network to generate charging power for electric buses; power rails electrically connected to the power converter and installed at a predetermined height according to a layout of a garage; a first charging network configured to horizontally move above a floor in the garage along the electric power rails to upper sides of the electric buses to contact the electric buses; a second charging network electrically connected to the power converter and providing a charging zone on a bottom surface of the garage by reflecting the layout to contact the electric buses parked in the charging zone; and a station controller configured to control a charging sequence of the electric buses by analyzing position information of the electric buses and calculating a shortest movement path and a charging order of the first charging network.

The invention relates to a positioning unit (12) and a method for establishing an electrically conductive connection between a stationary charging station (10) and a vehicle (24), in particular an electric bus or the like, a contact device (15) having an electric charging contact (19) of the positioning unit being movable in relation to a charging-contact surface (21) and being contactable therewith by means of the positioning unit, the positioning unit having a positioning device (13) and a drive device (14) for driving the positioning device, the charging contact being able to be positioned between a contact position (18) for transmitting power and a retracted position for interrupting power transmission by means of the positioning device, the positioning unit comprising a cover device (25) having an apron (26), the apron surrounding at least sections, preferably the entirety of, the contact device and being movable towards the contact position.

A self-power-consumption power supply system suitable for a large energy storage power station comprises a low-voltage station power-consumption bus power distribution cabinet installed in a booster station power distribution room, the low-voltage station power-consumption bus power distribution cabinet is connected with at least one energy storage system local distribution box, and the energy storage system local distribution box is arranged on the ground of an energy storage area. The energy storage system local distribution box is connected with at least one dual-power-supply change-over switch, and one path of the dual-power-supply change-over switch is connected with an auxiliary transformer of the energy storage PCS and used as a normal power supply. The other path of the dual-power change-over switch is connected with a station power distribution box to serve as a standby power supply; and the dual-power change-over switch is positioned on the energy storage PCS equipment. According to the utility model, an affiliated transformer of energy storage PCS equipment is used as a main power supply, and electricity of a low-voltage station of an energy storage power station is used as a standby power supply. Wherein the standby power supply is reasonably provided with an on-site distribution box and a looped network circuit breaker box according to equipment arrangement and equipment grouping of the energy storage power station, so that the stability of self power utilization of the energy storage power station can be effectively ensured, and the workload of equipment and field installation is saved.

The invention belongs to the technical field of urban traffic management, and particularly relates to an electric bus cooperative scheduling method in a charging facility time-sharing sharing mode. The objective of the invention is to solve the problem that the existing method faces a single electric bus route, neglects the fluctuation of the charging demand of private cars in each time period, and is easy to cause low utilization rate caused by excessive charging facility distribution number in individual time periods, or long charging queuing time of private cars caused by insufficient charging facility distribution number. The method comprises the following steps: constructing a collaborative optimization model of a bus scheduling scheme and a charging facility sharing scheme based on the daily charging cost of an electric bus line and an expression of an estimated value of earnings obtained by sharing a charging pile to an electric car every day by a bus enterprise; solving the collaborative optimization model to obtain an optimal feasible solution and a corresponding objective function value; the optimal feasible solution comprises an electric bus scheduling scheme and a charging facility sharing scheme.

The invention belongs to the technical field of urban public transport management, and particularly relates to an electric public transport scheduling and charging scheduling method considering source-load double-side fluctuation. The objective of the invention is to solve the problems that a public transportation system has source-load double-side fluctuation due to the intermittency of existing source-side photovoltaic power generation and the randomness of load-side public transportation operation energy consumption, so that the charging demand and the power supply capacity in part of time periods are not matched, the operation task cannot be completed in time, and the energy storage utilization efficiency is low. The invention provides an electric bus scheduling and charging scheduling method considering source-load double-side fluctuation. The method comprises the steps of calculating bus battery remaining capacity based on an optimization time period; calculating the remaining capacity of the energy storage battery based on the remaining capacity of the bus battery; based on the bus battery remaining capacity and the energy storage battery remaining capacity, constructing a chance constraint planning model; and solving the opportunity constraint planning model to obtain an optimal feasible solution which comprises an electric bus scheduling and charging scheduling scheme.

The invention relates to a power supply device for a vehicle, in particular for a utility vehicle, such as an electric bus or an electric truck, comprising: at least one contact head (4) which can be brought into contact with a docking device (5) in order to form an electric connection; at least a first pivot arm (2) which is connected to the at least one contact head (4) and which can be rotatably connected to the vehicle (1); and a return device (15). According to the invention, the return device (15) is designed to abut against the at least first pivot arm (2) and to depart from the at least first pivot arm (2) with respect to a follower of the at least first pivot arm (2). As a result, a reliable return of the first pivot arm (2) can be achieved.

A power source assembly for an aeronautical vehicle includes a fuel cell module configured to provide a first direct current (DC) power output, a battery module configured to provide a second DC power output, a DC electric bus configured to provide a specified DC power output to a load, a multi-phase DC / DC converter including a plurality of converter units, and a controller operably coupled to the multi-phase DC / DC converter. The multi-phase DC / DC converter is configured to receive the first DC power output and the second DC power output and to provide the specified DC power output to the DC electric bus. The controller is configured to receive data indicative of the first DC power output and to control the plurality of converter units of the multi-phase DC / DC converter based on the received data to maintain the specified DC power output to the load.

The invention discloses an independent liquid-cooling liquid-heating system of a pure electric bus and a control method, and belongs to the technical field of electric buses. Comprising the steps that S1, a battery management system (BMS) obtains the temperature of a battery and judges whether liquid cooling and liquid heating are needed or not, if yes, a liquid cooling or liquid heating process S2 is executed, and if not, a self-circulation mode S3 is executed; s2, acquiring a liquid cooling liquid heat demand, starting a liquid cooling liquid heat system according to the liquid cooling liquid heat demand, and cooperatively executing a liquid cooling liquid heat flow by the battery management system and the independent heat management unit; and S3, obtaining a whole vehicle system state and a liquid-cooling liquid heat demand, and if no liquid-cooling liquid heat demand exists, executing self-circulation of the liquid-cooling liquid heat system by the battery heat management unit. Through unified control and management of liquid cooling and liquid heat, mutual exclusion management of liquid cooling and liquid heat of the battery is easily realized, and the problem that an existing power battery is attenuated due to temperature influence is solved.

A power source assembly (200, 300, 400) for an aeronautical vehicle (100), includes a fuel cell module (202, 302, 312, 402, 412) configured to provide a first direct current (DC) power output, a battery module (204, 304, 314, 404, 414) configured to provide a second DC power output, a DC electric bus (206, 306, 316, 406, 416) configured to provide a specified DC power output to a load (212, 324, 422), a multi-phase DC / DC converter including a plurality of converter units (214), the multi-phase DC / DC converter configured to receive the first DC power output from the fuel cell module (202, 302, 312, 402, 412) and the second DC power output from the battery module (204, 304, 314, 404, 414) and to provide the specified DC power output to the DC electric bus (206, 306, 316, 406, 416), and a controller (210, 310, 320, 410, 420, 600) operably coupled to the multi-phase DC / DC converter and configured to receive data (602D) indicative of the first DC power output, the controller (210, 310, 320, 410, 420, 600) configured to control the plurality of converter units (214) of the multi-phase DC / DC converter based on the data (602D) indicative of the first DC power output to maintain the specified DC power output to the load (212, 324, 422).

The invention discloses an electric bus station optimization scheduling method and system based on light storage and charging cooperation. The method comprises the following steps: acquiring parameters; according to the obtained parameters, an electric bus charging and discharging behavior model, a photovoltaic output model, an energy storage system operation model and a charging pile operation model considering a one-pile multi-gun sharing mode are established; by taking the minimization of the total operation cost of the station as a target and taking the established unit models as constraints, constructing an optical storage and charging integrated electric bus station optimization scheduling model, and solving to obtain a scheduling plan in the station; and issuing the solved scheduling plan to a station operation control system to generate a scheduling instruction and a charging and discharging instruction of the electric bus so as to realize cooperative scheduling of the station optical storage and charging resources. According to the method, the physical matching relation of the vehicle pile gun is depicted finely, the problem of symmetric solution space explosion caused by neglecting equipment homogenization in a traditional model is solved, and the solving efficiency and feasibility of a large-scale scheduling problem are remarkably improved.

The utility model provides a battery cover, a roof structure and an electric bus, and relates to the technical field of vehicles, the battery cover provided by the utility model comprises a cover body, a cover door, a supporting assembly and a waterproof assembly, access holes are formed in the two sides of the cover body in the width direction of the vehicle, the cover body comprises a skin and side decoration plates connected to the two sides of the skin in the width direction of the vehicle, the skin and the side decoration plates on the two sides are welded into a whole, the side decoration plates are connected with the supporting assembly, and the supporting assembly is used for being connected with a top cover of the vehicle; the cover door is rotationally connected to the access hole, and a waterproof assembly used for abutting against the cover door is arranged at the access hole. The battery cover provided by the utility model does not occupy a larger width space of a bus, and the convenience of battery installation and maintenance is improved.

A power source assembly (200, 400, 450, 500) for an aeronautical vehicle (100), the power source assembly (200, 400, 450, 500) including: a fuel cell module (202, 202', 402, 402', 502) configured to provide a first direct current power output; a battery module (204, 404, 404', 504) configured to provide a second direct current power output; a direct current electric bus configured to provide a net direct current power output to a load (220, 420, 520); a DC / DC converter in electrical connection with the direct current electric bus, the DC / DC converter configured to receive the first direct current power output from the fuel cell module (202, 202', 402, 402', 502) or the second direct current power output from the battery module (204, 404, 404', 504); and a controller (212, 215, 412, 412', 512, 600) operably coupled to the DC / DC converter and configured to receive data indicative of the first direct current power output, the controller (212, 215, 412, 412', 512, 600) configured to control the DC / DC converter based on the data indicative of the first direct current power output to maintain a slew rate from the fuel cell module (202, 202', 402, 402', 502) within a slew rate range for the fuel cell module (202, 202', 402, 402', 502).

The invention provides a dynamic operation adjusting method for an electric public transportation system based on a quick charging facility so as to cope with the real-time change of an operation environment. And reconstructing the dynamic adjustment problem of the electric public transportation system into a mixed integer nonlinear programming model. Meanwhile, factors such as bus operation dynamics, dynamic passenger loading, vehicle overtaking, capacity limitation and charging and discharging processes are comprehensively considered. Constructing a prediction time domain and a control time domain of the current decision-making stage based on a dynamic adjustment model of rolling optimization; constructing an electric bus dynamic adjustment optimization model; designing a spatial branch and bound method combined with an acceleration technology to solve the decision at the current stage; through the strategy, the scheduling and charging arrangement of the buses can be optimized, the overall operation efficiency and service quality of the system are remarkably improved, energy consumption and operation cost are reduced, and therefore wide application and sustainable development of the electric public transportation system are promoted.

The invention relates to the technical field of feature screening, and discloses a feature screening method in an electric bus energy consumption prediction scene, and the method comprises the steps: obtaining a data set; wherein the data set comprises a plurality of to-be-screened features and actually measured energy consumption rates; determining a correlation coefficient of each to-be-screened feature, and sorting the correlation coefficients of each to-be-screened feature according to a preset sequence to obtain a feature combination; generating a plurality of sample sets corresponding to different feature combinations according to a preset rule and the feature combinations, and determining a predicted energy consumption rate of a target sample in each sample set; and according to the actually measured energy consumption rate of each sample in the sample set and the predicted energy consumption rate of each sample in each sample set, respectively determining an average percentage error corresponding to each sample set, and taking the feature combination corresponding to the sample set generating the minimum average percentage error as a target feature combination.

This invention relates to a method, system, device, and medium for synchronous control of dual motors in an electric bus door enclosure, belonging to the fields of smart home and automatic control technology. The method includes: collecting local motor speed data and sending it in real-time to other motor control systems within the same linkage group; receiving motor position data from other motor control systems; calculating speed and position deviations in real-time based on the local motor speed data and the received motor position data; and then, based on the deviations and preset full-stroke friction characteristic data, compensating for the speed of the local motor to ensure synchronous operation of all motors within the same linkage group. This application can reduce the false alarm rate of stall, reduce mechanical impact noise, extend the life of transmission components, and achieve accurate fault identification.

The present invention discloses a dew condensation prevention system for a battery compartment of an integrated bus roof and a control method thereof, which relates to the technical field of electric buses. It includes a battery compartment integrally arranged on the bus roof, and a plurality of battery modules are arranged at intervals in the battery compartment; the battery compartment is provided with an air inlet and an air outlet, and a first one-way valve and a second one-way valve are respectively arranged at the air inlet and the air outlet; the dew condensation prevention system includes an air pump, a dryer and a vehicle control module arranged outside the battery compartment; the vehicle control module is controllably connected to the air pump; the air pump is sequentially connected to the dryer and the first one-way valve through a ventilation circuit. During operation, if the air humidity in the battery compartment is relatively high, dry air can be regularly injected into the battery compartment through the air pump and the dryer, so that the moist air is discharged to the outside of the vehicle through the second one-way valve from the air outlet, thereby ensuring that the air in the battery compartment remains dry and preventing dew condensation from occurring when the temperature difference between the inside and outside of the compartment is relatively large, effectively overcoming the problems existing in the prior art.

The invention discloses a wide-voltage high-power conduction charging device for the new energy industry, and relates to the technical field of conduction charging, the wide-voltage high-power conduction charging device comprises a charging pile, a power distribution cabin is installed above the charging pile, a power module is arranged in the power distribution cabin, and the power module comprises at least three power blocks; the power distribution cabin is internally provided with a conversion module, the conversion module comprises a connecting frame set, nut lantern rings are symmetrically installed below the connecting frame set, reciprocating screw shafts are installed in the nut lantern rings, and the combination of the conversion power module is changed. According to the charging pile, a single small-power part is used for charging a small-sized electric vehicle, and the three modules work at the same time to provide quick charging for a large-sized electric bus, so that the universality of the charging pile is remarkably improved through the flexible adjusting mode, diversified charging requirements are met, and daily slow charging of the small-sized vehicle and emergency quick charging of the large-sized vehicle can be freely dealt with.

The invention relates to a collaborative optimization method for charging station facility configuration and electric bus charging scheduling. The method comprises the following steps: step 1, collecting data; 2, calculating the carbon emission cost and the charging cost of the vehicle charged from the power grid; 3, calculating the photovoltaic power generation carbon emission cost and the charging cost of the charging station; step 4, calculating photovoltaic internet surfing income of the charging station; 5, photovoltaic panels and energy storage capacity configuration limits of all stations are calculated; step 6, constructing a joint optimization model of multi-station photovoltaic energy storage charging station facility configuration and electric bus charging scheduling; and 7, solving the joint optimization model established in the step 6, and obtaining the optimal number of photovoltaic panels configured at different stations, the optimal energy storage battery capacity configuration configured at different stations and different vehicle charging scheduling plans. Compared with the prior art, the method has the advantages that the utilization rate of the stations is improved, local stations are prevented from being overloaded, resources of other stations are prevented from being idle, and the photovoltaic power generation consumption condition is improved.

The utility model relates to a battery equalization intelligent control circuit for a pure electric bus, which comprises a sensor power supply output sub-circuit, a switch input sub-circuit, an analog input sub-circuit, a PWM (Pulse Width Modulation) input sampling sub-circuit, a CAN (Controller Area Network) communication sub-circuit and an MCU (Microprogrammed Control Unit) control sub-circuit, the sensor power supply output sub-circuit, the switch input sub-circuit, the analog input sub-circuit, the PWM input sampling sub-circuit and the CAN communication sub-circuit are respectively in communication connection with the MCU control sub-circuit. According to the utility model, data is acquired through the sensor power supply output sub-circuit, the switch input sub-circuit, the analog input sub-circuit and the PWM input sampling sub-circuit, the MCU control sub-circuit judges and selects a current battery equalization mode, and battery equalization and battery protection are realized through control of the CAN communication sub-circuit.

This invention relates to the field of electric bus control, and particularly to a method, system, device, and medium for dual-motor coordinated control of an electric bus. The method involves acquiring multi-source state data of a pure electric bus during operation and constructing a working condition feature vector. Based on the working condition feature vector, historical operating data is subjected to working condition clustering analysis to establish a mapping relationship between working condition features and coordinated control parameters. A dual-motor coordinated control parameter optimization model is constructed, and under constraints of motor efficiency spectrum, battery power boundary, and system stability, the coordinated control parameters are optimized through multi-objective optimization to obtain the optimal coordinated control parameter vector. This enhances the adaptability of the vehicle control system under complex operating conditions, extends the service life of the motor and power system, improves the stability and reliability of the vehicle control system, reduces the impact of torque fluctuations, and improves passenger comfort.

The application discloses a kind of electric bus active suspension control method and system, method includes according to bus parameter and motor distribution establishes the half vehicle dynamics model of bus, constructs the state space equation of model, obtains the active suspension model suitable for bus;Considering the mass distribution change and centroid position change caused by bus passengers getting on and off and walking in the car, a social force model is established;And through the social force model, the relationship between the number of passengers on the bus and the front and rear distribution of passengers is obtained according to the particle swarm optimization algorithm, the passenger distribution law is obtained, and the active suspension model suitable for mass distribution change and centroid position change is established after the range of uncertain parameters is determined;For the direct interference of rear motor vibration, PID control is designed to adapt to the vibration of motor under different working conditions;By deriving the theorem of H2 / H ∞ control, the active suspension feedback control law when the mass distribution changes and the centroid position changes is obtained.The application can effectively improve the comfort of bus.