| Research on Linear Quadratic Regulator Active Air Suspension Control of Heavy-duty Bus Based on Road Roughness Grade Recognition |
| Yaqi Wang, Lin Yang, Shaoyi Bei, Bo Li, Hao Cui, Guangjia Wang, Mingsen Zhao, Tianli Gao |
| School of Automotive and Traffic Engineering, Jiangsu University of Technology, Changzhou, 213001, China |
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Received: May 13, 2025; Revised: September 7, 2025 Accepted: October 1, 2025. Published online: November 19, 2025. |
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| ABSTRACT |
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To enhance ride comfort of heavy-duty buses on complex roads, this paper proposes an LQR active air suspension control method with road roughness recognition. Weighting matrices of the LQR controller are pre-optimized via genetic algorithm for Grade B, C, and D roads. Road identification is performed by estimating the power spectral density of road displacement using the Burg method, followed by integration to obtain the root mean square value of the road roughness. Based on the identified grade, the LQR weighting matrix is dynamically switched. Simulations show that, compared to passive suspension, the proposed GA-LQR strategy reduces vertical acceleration and pitch angular acceleration by 31.94% and 21.95% on Grade B roads, outperforming conventional LQR (22.82% and 13.24%). Similar improvements are achieved on Grades C and D, confirming the effectiveness of the adaptive control strategy. |
| Key Words:
Heavy-duty bus · Active air suspension · Genetic algorithm · Road roughness grade recognition |
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Corresponding Author.
Lin Yang , Email. 
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