Abstract
The hydro-pneumatic suspension, as a widely used suspension for heavy vehicles, has been taken seriously by researchers for a long time because it is crucial in terms of handling stability, riding comfort, and driving safety of these vehicles. Most previous studies only discussed the control of ride comfort or vehicle handling stability of the suspension system separately. This article proposes a dynamic switch control strategy which can switch between ride comfort and handling stability controllers under different road surfaces and driving conditions. The load transfer ratio (LTR) is selected as the switch performance index, and it is calculated through a six-degrees-of-freedom (6-DOF) model. The ride comfort and handling stability controller of the hydro-pneumatic suspension are designed based on the sliding mode control theory. The objective functions of parameters optimization of the sliding mode controller (SMC) are obtained by means of analytic hierarchy process (AHP), and then the controller’s parameters are optimized by the parallel adaptive clonal selection algorithm (PACSA). The simulation results based on MATLAB/Simulink show that: (1) the PACSA performs better than a genetic algorithm in terms of the parameters optimization of the SMC; (2) the proposed switch control strategy can simultaneously improve the ride comfort and handling stability under several typical steering maneuvers and various road profiles compared with the conventional SMC-controlled suspension.
Highlights
Rescue vehicles are important in the transportation of rescue goods as well as rescue workers.The hydro-pneumatic suspension is applied to rescue vehicles due to the great load carrying capacity and the complexity of rescue terrain
The simulationmodel modelincluding including model, thecomfort ride comfort controller, the handling controller, the switch the road models built in MATLAB/Simulink, as shown stability controller, thestrategy, switch and strategy, and input the road inputare models are built in MATLAB/Simulink, in
In order to verify the quality of the proposed switch control strategy, the are performed under the J-turn maneuver and fishhook maneuver to evaluate the ride comfort and handling stability of the vehicle
Summary
Rescue vehicles are important in the transportation of rescue goods as well as rescue workers. Inspired by the previous studies mentioned above, an SMC is used to control the hydro-pneumatic suspension system to enhance the ride comfort and handling stability of the rescue vehicle in this paper. An adjustable hydro-pneumatic suspension system of a rescue vehicle is taken as the object to study the proposed dynamic switch strategy between the ride comfort and handling stability. The ride comfort and handling stability controller of the hydro-pneumatic suspension are designed based on the SMC. A Switched SMC is proposed and built for the control of the adjustable hydro-pneumatic suspension system, which can address concerns on both ride comfort and handling stability under different road surfaces and driving conditions through switch actions, and the optimization ability of the proposed control strategy is proven compared with the conventional SMC based on MATLAB/Simulink. For the controller design and the validation of the switch control strategy, the models of the
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