Research on an Adaptive Active Suspension Leveling Control Method for Special Vehicles

Adaptive active suspension systems, integral to specialized vehicles, hold significance for their stability and safety. This study introduces a novel adaptive active suspension system featuring four independently controlled wheels employing wheel-hub motors, hydraulic cylinders, pump motor power, controllers, and sensors. A rapid and, within a certain range, leveling and height adjustment control strategy is proposed for this system, utilizing the Kalman filter algorithm. Additionally, the paper examines the front-wheel Ackermann steering model and four-wheel reverse Ackermann transition model to enhance the suspension's stability. Subsequently, experiments on leveling and height adjustment are conducted, demonstrating the system's capability to swiftly and accurately rectify the vehicle's deviation angle within the specified threshold. Following adjustments made by the leveling and height control algorithm, the vehicle body promptly returns to the preset level state and designated height. The leveling control system holds broad applicability in intelligent agriculture, logistics handling, off-road equipment, and other domains, presenting significant practical utility.