Active suspension vehicle and control method

Patent metadata

Field	Value
Publication number	US-12565072-B2
Application number	US-202318400243-A
Country	US
Kind code	B2
Filing date	Dec 29, 2023
Priority date	Mar 13, 2023
Publication date	Mar 3, 2026
Grant date	Mar 3, 2026

Abstract

The present invention discloses an active suspension vehicle and a control method controlling the same. Each wheel of the vehicle is equipped with a telescopically adjustable active actuator. The control method begins by constructing a load and deformation joint control matrix of the vehicle and measuring the current vehicle parameters; then determining vertical displacement excitation of wheels at a next moment, and pre-calculating passive responses of vehicle height, attitude, and wheel loads at the said next moment; determining the vehicle height, attitude, and feasible wheel load expectations at the said next moment, and inverse-calculating adjustment strokes of the suspension; finally, performing active suspension adjustment to chase the vehicle height, attitude, and feasible wheel load expectations in real-time. The disclosure implements synchronous vehicle height, attitude, and wheel loads control for multi-axle vehicles, thus significantly improving their passability, maneuverability, and stability under extreme off-road terrains.

First claim

We claim:

1 . A control method for controlling an active suspension vehicle, the active suspension vehicle comprising:
a vehicle body; a wheel carriage assembly, comprising two or more axles and a plurality of wheels associated therewith, with the wheel carriage assembly being connected to the vehicle body and operable to lift and rotate each of the two or more axles relative to the vehicle body; an active suspension system, comprising a plurality of active actuators and shock absorbers, each of the shock absorbers is connected at one end to the vehicle body and at the other end to one of the active actuators, which in turn is connected at its opposite end to the wheel carriage assembly, and each of the active actuators being operable to extend and shorten along its axis; a sensing system, comprising a front-road preview system, a body state measurement system, a vehicle speed measurement system, and a driving measurement system; and a control system, with the sensing system and the active suspension system being connected to the control system as input end and output end, respectively; wherein the control method comprises the following steps:
step 1, setting a Cartesian coordinate system defined with a center of mass of the vehicle body as an origin, an x-axis parallel to an axis of the vehicle body and pointing in a driving direction of the active suspension vehicle, a z-axis pointing vertically upward, and a y-axis perpendicular to a longitudinal plane of symmetry of the active suspension vehicle and pointing to a left side of the driving direction; each of the plurality of active actuators being denoted with a corresponding subscript number with each of the plurality of the wheels;
step 2, building a load and deformation joint control matrix of the active suspension vehicle and storing the load and deformation joint control matrix in the control system by the following steps: placing the active suspension vehicle on a horizontal road; driving a j-th active actuator of the plurality of active actuators comprised in the active suspension system, j=1, 2, . . . n, to actively extend with other active actuators of the plurality of active actuators remaining inactive; measuring a displacement of each of the plurality of the active actuators in real-time via a corresponding displacement sensor of the body state measurement system until a unit displacement being generated; measuring a load increment of each of the plurality of the wheels via a corresponding force sensor of the body state measurement system; storing the load increment of each of the plurality of the wheels in order from 1 to n in rows 1 to n of the j-th column of a matrix as Δf 1j , Δf 2j , . . . Δf nj ; and
at the same time, measuring increments of a roll angle and a pitch angle of the vehicle body via an attitude sensor of the body state measurement system, and storing angle increments in rows n+1 to n+2 of the j-th column of the matrix as Δθ xj , Δθ yj ; and
performing said measuring and said storing until the load and deformation joint control matrix being constructed and stored in the control system as follows:

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Assignees

• Univ Shandong Technology

Inventors

• Zhang Fan
• Yang Jiguo
• Jiao Xuejian
• Li Lijun
• Gang Xianyue

Classifications

• B60G17/0182

  involving parameter estimation, e.g. observer, Kalman filter · CPC title

• B60G2400/60

  Load · CPC title

• B60G2400/204

  Vehicle speed · CPC title

• B60G2400/208

  of wheel rotation · CPC title

• B60G17/0162

  mainly during a motion involving steering operation, e.g. cornering, overtaking (B60G17/0164 takes precedence) · CPC title