The invention provides a vehicle active suspension control method and system considering the influence of a road surface slope, and relates to the technical field of vehicle control, and the method comprises the steps: constructing an active suspension dynamic model and an ideal reference model of a three-axle vehicle considering the influence of the road surface slope; obtaining a vehicle vertical displacement error, a vehicle pitch angle error and a vehicle roll angle error based on the model; acquiring vehicle vertical motion lumped interference, vehicle pitching motion lumped interference and vehicle roll motion lumped interference based on an extended state observer; the ideal control force of the vehicle is further obtained; and decoupling based on the ideal control force of the vehicle to obtain the active action force of each suspension. According to the method, the influence of the slope of the road surface on the dynamic model of the three-axis vehicle active suspension is considered, the actual dynamic state of the vehicle can be reflected more accurately, and energy consumption is low while the excellent vibration isolation effect is achieved.

    本发明提供一种考虑路面坡度影响的车辆主动悬架控制方法及系统,涉及车辆控制技术领域,方法包括:构建考虑路面坡度影响的三轴车辆的主动悬架动力学模型和理想参考模型;基于模型得到车辆垂向位移误差、车辆俯仰角误差和车辆侧倾角误差;基于扩张状态观测器获得车辆垂向运动集总干扰、车辆俯仰运动集总干扰和车辆侧倾运动集总干扰;进一步得到车辆理想控制力;基于车辆理想控制力解耦得到各个悬架的主动作动力。本发明考虑了路面坡度对三轴车辆主动悬架动力学模型的影响,可以更加精确地反映车辆实际动态,具有优异隔振效果的同时能量消耗较低。


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    Title :

    Vehicle active suspension control method and system considering road slope influence


    Additional title:

    考虑路面坡度影响的车辆主动悬架控制方法及系统


    Contributors:
    GONG MINGDE (author) / LIU WENBIN (author) / BI JIAMING (author) / XU XINDI (author)

    Publication date :

    2025-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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