| ROBUST CONTROL STRATEGY OF HEAVY VEHICLE ACTIVE SUSPENSION BASED ON ROAD LEVEL ESTIMATION |
| Mingde Gong1, Xin Yan2 |
1Yanshan University
2Jilin University |
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| ABSTRACT |
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A new adaptive robust control strategy based on road level estimation for heavy rescue vehicles is proposed in this study. Firstly, a new road estimation method that considers the interaction between roads and vehicles is presented as a means of road level detection. A relative roughness indicator caused by different road levels is used as a basis for estimation. T–S fuzzy controller is designed to estimate the final road level. Secondly, an adaptive optimal H∞ controller is established by selecting the corresponding parameter matrix based on an estimated road level. A robust control strategy is formulated to calculate the control force that can realise the adaptive control of an active suspension when driving on different road levels. Finally, experiment results show that an active suspension control system based on road level estimation can adaptively control suspension stiffness and damping by adjusting the parameter matrix of a robust controller. The proposed control strategy can improve ride comfort and handling stability in different road levels. |
| Key Words:
Heavy rescue vehicle, Active suspension, Road level, Estimation, Robust control |
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Corresponding Author.
Mingde Gong , Email. 
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