US 11,999,211 B2
Vehicle active suspension inertia regulation method based on wheel supporting force, and control system
Dingxuan Zhao, Qinhuangdao (CN); Shuang Liu, Qinhuangdao (CN); Mingde Gong, Qinhuangdao (CN); Zhuxin Zhang, Qinhuangdao (CN); Zhiguo Sun, Qinhuangdao (CN); and Bin Yang, Qinhuangdao (CN)
Assigned to Yanshan University, Qinhuangdao (CN)
Filed by Yanshan University, Qinhuangdao (CN)
Filed on May 19, 2023, as Appl. No. 18/320,230.
Application 18/320,230 is a continuation of application No. PCT/CN2022/085567, filed on Apr. 7, 2022.
Claims priority of application No. 202110714847.6 (CN), filed on Jun. 26, 2021.
Prior Publication US 2023/0286345 A1, Sep. 14, 2023
Int. Cl. B60G 17/016 (2006.01); B60G 17/015 (2006.01); B60G 17/0165 (2006.01); B60G 17/018 (2006.01); B60G 17/019 (2006.01)
CPC B60G 17/0164 (2013.01) [B60G 17/0155 (2013.01); B60G 17/0165 (2013.01); B60G 17/018 (2013.01); B60G 17/01933 (2013.01); B60G 2202/242 (2013.01); B60G 2400/25 (2013.01)] 9 Claims
OG exemplary drawing
 
1. An inertial regulation method for active suspension based on a supporting force of each wheel, wherein the method comprises:
adjusting the supporting force of each wheel and controlling expansion of each suspension cylinder to control a resultant force received by a vehicle in a vertical direction, so that respective resultant torques around a longitudinal axis and a horizontal axis passing through a center of mass are equal to zero;
keeping the center of mass of the vehicle moving along a straight line or smooth curve; and
keeping an attitude of the vehicle stable;
wherein the inertial regulation method further comprises an inner loop control step and an outer loop control step, wherein the inner loop control step is used to control the supporting force of each wheel, and the outer loop control step is used to control an average value of all suspension cylinder strokes, the inner loop control step and the outer loop control step are independent of each other and have no coupling relationship;
wherein the outer loop control step comprises: calculating the average value of all the suspension cylinder strokes based on each measured suspension cylinder stroke, comparing the average value of all the suspension cylinder strokes with a median value of the suspension cylinder strokes, taking the difference thereof as a target displacement, and controlling each suspension cylinder for the same expansion of displacement, so that the average value of all the suspension cylinder strokes tends to the median value.