Low complexity special vehicle driving leveling control method based on dynamic reference

Here, aiming at the leveling problem of special equipment vehicle driving, the low complexity control method based on dynamic reference was proposed. The entire vehicle was decomposed into mutually coupled suspension nodes driven by actuators to establish suspension nodes ' dynamic model, and the posture hybrid control problem based on the whole vehicle driving dynamic model was converted into a simple displacement control problem based on the all-wheel drive type suspension nodes ' dynamic model. Dynamic reference and benchmark error were proposed and constructed to solve technical bottleneck problems of existing methods depending heavily on and limiting vehicle body verticality, and meanwhile vehicle passing performance could be improved. An extended state observer was built based on benchmark error to realize dynamic decoupling, and a low complexity driving leveling control method was proposed. The effectiveness of the proposed method was verified using the automotive system simulation software Carsim. The results showed that compared with the classic whole vehicle type control method based on constant value benchmark, the proposed method can improve the vehicle driving leveling accuracy by one order of magnitude ; especially, when the road surface excitation amplitude exceeds actuator stroke, vehicle comfort and safety can particularly be improved after using the proposed method. © 2024 Chinese Vibration Engineering Society. All rights reserved.