Abstract
The controller design for integrated electrohydraulic suspension with leaf spring is a complicated and challenging task, aiming to achieve optimal dynamic performance for heavy vehicles. Considering the hysteresis property of leaf spring, parameter uncertainties and nonlinearity, a novel hierarchical optimization control strategy including upper and bottom controllers is proposed to effectively suppress the vertical vibration of vehicle body. To describe the hysteresis property of leaf spring, a novel resistor-capacitor operator hysteresis model is identified by experiment and optimized by genetic algorithm. Based on hysteresis model, the filter adaptive backstepping control with sprung mass uncertainty is designed as upper controller to generate the desired active force for electrohydraulic actuator. Then, the projection adaptive fuzzy sliding mode control is designed as bottom controller for nonlinear actuator with time-varying fluid parameter to accurately track the required target force. Additionally, a stratified sampling algorithm is investigated to optimize the parameters of hierarchical control strategy for addressing multi-objective optimization issue of electrohydraulic suspension with leaf spring. Finally, the results show that the proposed method has better robustness and effectiveness, and it can ensure ride comfort, safety and optimal performance.
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