Hierarchical Control of Ride Height System for Electronically Controlled Air Suspension Based on Variable Structure and Fuzzy Control Theory

作     者：XU Xing ZHOU Kongkang ZOU Nannan JIANG Hong CUI Xiaoli 

作者机构：School of Automotive and Traffic Engineering Jiangsu University School of Mechanical Engineering Jiangsu University School of Mechanical Engineering Hunan Institute of Technology 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2015年第28卷第5期

页      面：945-953页

核心收录：

学科分类：0817[工学-化学工程与技术] 08[工学] 082304[工学-载运工具运用工程] 0807[工学-动力工程及工程热物理] 080204[工学-车辆工程] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 0823[工学-交通运输工程] 080201[工学-机械制造及其自动化] 

基　　金：Supported by National Natural Science Foundation of China(Grant No.51105177) Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20131255) Research Fund for the Doctoral Program of Higher Education of China(Grant No.20113227120015) Qing Lan Project of Jiangsu Province of China,Scientific Research Foundation for Advanced Talents,Jiangsu University,China(Grant No.11JDG047) Hunan Provincial Natural Science Foundation of China(Grant No.12JJ6036) 

主　　题：electronically controlled air suspension (ECAS) ride height body attitude hierarchical control 

摘      要：The current research of air suspension mainly focuses on the characteristics and design of the air spring. In fact, electronically controlled air suspension （ECAS） has excellent performance in flexible height adjustment during different driving conditions. However, the nonlinearity of the ride height adjusting system and the uneven distribution of payload affect the control accuracy of ride height and the body attitude. Firstly, the three-point measurement system of three height sensors is used to establish the mathematical model of the ride height adjusting system. The decentralized control of ride height and the centralized control of body attitude are presented to design the ride height control system for ECAS. The exact feedback linearization method is adopted for the nonlinear mathematical model of the ride height system. Secondly, according to the hierarchical control theory, the variable structure control （VSC） technique is used to design a controller that is able to adjust the ride height for the quarter-vehicle anywhere, and each quarter-vehicle height control system is independent. Meanwhile, the three-point height signals obtained by three height sensors are tracked to calculate the body pitch and roll attitude over time, and then by calculating the deviation of pitch and roll and its rates, the height control correction is reassigned based on the fuzzy algorithm. Finally, to verify the effectiveness and performance of the proposed combined control strategy, a validating test of ride height control system with and without road disturbance is carried out. Testing results show that the height adjusting time of both lifting and lowering is over 5 s, and the pitch angle and the roll angle of body attitude are less than 0.15°. This research proposes a hierarchical control method that can guarantee the attitude stability, as well as satisfy the ride height tracking system.