Active suspension and steering system control of emergency rescue vehicle based on sliding mode dual robust coordination control

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-06-01 DOI:10.1177/16878132241259720

Donghua Zhao, Mingde Gong, Dingxuan Zhao, Wenbin Liu, Wenbin Chen

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引用次数: 0

Abstract

The multi-axle emergency rescue vehicle has dangerous driving conditions, high body height, and large weight, and the coupling of each subsystem of the chassis is more complicated. In order to solve the coordination problem between the vehicle suspension system and the steering system, the vehicle can drive more smoothly on uneven road surfaces and improve the riding comfort of passengers. A sliding mode dual robust coupled collaborative control strategy is proposed to address the impact of the multi-axis steering system and active suspension system on driving smoothness and handling stability of emergency rescue vehicles. The active suspension system and multi-axle steering system are synergistically controlled. Firstly, an active suspension sliding mode variable structure controller is designed to improve vehicle ride comfort. Secondly, A new dual robust controller is proposed to realize the handling stability of the vehicle’s all-wheel steering system. Thirdly, the coupling cooperative controller of the active suspension system and all-wheel steering system is designed and simulated under different working conditions. The experimental results show that the root-mean-square values of body roll angle, body roll angle acceleration, and yaw angle acceleration with cooperative control are reduced by 26.58%, 30.54%, and 21.92% respectively; moreover, the lateral acceleration and vertical acceleration of the vehicle body are effectively reduced. The use of cooperative control effectively improves the ride comfort and handling stability of the vehicle.

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基于滑动模式双稳健协调控制的应急救援车主动悬挂和转向系统控制

多轴应急救援车辆行驶路况危险、车身高、自重大，底盘各子系统的耦合较为复杂。为了解决车辆悬架系统与转向系统之间的协调问题，使车辆在不平路面上行驶更加平稳，提高乘客的乘坐舒适性。针对多轴转向系统和主动悬架系统对应急救援车辆行驶平顺性和操纵稳定性的影响，提出了一种滑动模态双鲁棒耦合协同控制策略。主动悬架系统和多轴转向系统协同控制。首先，设计了一种主动悬架滑动模式可变结构控制器，以提高车辆的乘坐舒适性。其次，提出了一种新的双鲁棒控制器，以实现车辆全轮转向系统的操纵稳定性。第三，设计了主动悬架系统和全轮转向系统的耦合协同控制器，并在不同工况下进行了仿真。实验结果表明，在协同控制下，车身侧倾角、车身侧倾角加速度和偏航角加速度的均方根值分别降低了 26.58%、30.54% 和 21.92%；此外，车身的横向加速度和纵向加速度也得到了有效降低。协同控制的使用有效提高了车辆的驾乘舒适性和操控稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.