A control method for vehicle magnetorheological suspension based on dual-timescale separation includes: establishing an equivalent drive circuit model with time
delay; separating the equivalent drive circuit model into two timescales based on
singular perturbation theory to construct a fast-changing current subsystem and a slow-changing control subsystem; designing a slow-changing control subsystem controller for the slow-changing control subsystem, calculating the
reference current output by the slow-changing control subsystem, and then outputting the
reference current to the fast-changing current subsystem; designing a fast-changing current subsystem controller for the fast-changing current subsystem, designing a
Smith predictor to compensate for the time
delay, and calculating the compensated
duty cycle output by the fast-changing current subsystem by combining the
reference current and the non-singular reaching law; and outputting the compensated
duty cycle to the equivalent drive circuit model to achieve real-
time control of the magnetorheological suspension. This invention can effectively
handle the multi-source time
delay problem of magnetorheological suspension in two timescales, improving vehicle ride comfort and handling stability.