Ride comfort improvement by back propagation-active disturbance rejection control in semi-active hydro-pneumatic suspension of mining dump truck

Abstract

Rigorous model-based design and semi-active control for hydro-pneumatic suspension (HPS) of the mining dump truck play an important role in providing superior driving characteristics such as ride comfort. In this paper, the investigation is carried out on a new control algorithm of semi-active suspension systems, namely, back propagation-active disturbance rejection control (BP-ADRC), supporting the driving characteristic ride comfort, and the technique is adopted in accordance with the co-simulation of MATLAB/Simulink and ADAMS. Besides, the model and controller used in the study including the semi-active HPS model, multi-body dynamic model, three-dimensional road model, and BP-ADRC controller are described and the vehicle response results are discussed which are obtained at the velocity of 20, 30, and 40 km/h on the time ranging from 10 s to 50 s, respectively. The results show that compared to passive HPS, both ADRC and BP-ADRC semi-active HPS are able to reduce vibration acceleration significantly, of which BP-ADRC reduces more. The maximum reduction rates of the semi-active HPS can reach 20.27% and 18.81% under random and impulsive excitation, respectively. The data illustrate that the semi-active HPS based on BP-ADRC control can significantly improve the ride comfort of the mining dump truck.