Research On Vehicle Active Suspension Control Technology Based On Multi-sensor Information Fusion

Most of the existing emergency rescue vehicles in our country adopt passive suspension,which cannot adapt to the complex environment and reduces the mobility of rescue.The emergency rescue vehicle with active suspension system can adjust vehicle suspension parameters in real time,so that the vehicle can maintain good ride comfort in complex environments.It has important practical value and theoretical research significance.Based on the national key research and development project "Research on the Key Technologies Chassis and Suspension for High-Mobility Emergency Rescue Vehicles(including Fire Fighting Vehicles)",(Project No.2016YFC0802902).the paper focuses on two key issues of multi-sensor data fusion algorithm and active suspension control strategy,to improve the ride comfort of three-axis heavy vehicle,.First,combined with the advantages of MARG sensor(three-axis gyroscope,threeaxis accelerometer,three-axis magnetometer)and GPS,this paper propose a fusion algorithm based on GPS acceleration compensation.For acceleration data compensation,the vehicle speed is used as the basis for dividing the vehicle.The driving speed is divided into four sections,and appropriate cut-off frequencies are selected respectively to ensure that the effective data is retained while removing harmful noises.The extended Kalman filter is designed to complete the best estimation of the position and attitude information.Secondly,the vehicle road input model and the vehicle’s nine-degree-of-freedom dynamics model are established,and an active suspension body stability controller is designed by fractional PID control,the body vertical displacement,pitch angle and roll angle are used as the control variables,And the driving force of six suspension actuators are calculated by decoupling matrix,so as to realize the real-time adjustment of the body position and improve the vehicle’s position and attitude stability and Ride comfort.Finally,MATLAB/ Simulink is used to establish the road surface model,the vehicle suspension model and the active suspension controller model.Experiments showed that compared to the passive suspension system,the active suspension system with Fractional PID control in vertical displacement,pitch angle and roll angle were decreased by 57.60%,36.28%,52.24%,the corresponding acceleration were reduced by 33.21%,23.44%,23.96%.It proves that the body attitude stabilization controller designed in this paper has a good control effect.