Research on Coordinated Control of Vehicle Inertial Suspension Using the Dynamic Surface Control Theory

In the process of driving, the steering, braking, and driving conditions and different road conditions affect the vibration characteristics of the vehicle in the vertical, roll, and pitch directions. These factors greatly impact the riding comfort of the vehicle. Among them, the uneven distribution of vertical load between the left and right or the front and rear suspension is one of the important factors affecting the performance indicators of the vehicle’s roll angle acceleration and pitch angle acceleration. In order to improve the ride comfort of the vehicle in vertical, roll, and pitch motion, the inerter is introduced in this paper to form a new type of suspension structure with the “spring-damping” base element, inertial suspension. It breaks away from the traditional “spring-damping” base element of the inherent suspension structure. In this paper, the mechatronic inerter is taken as the actual controlled object, and the inertial suspension structure is considered as the controlled model based on the dynamic surface control theory and the pseudo-inverse matrix principle. Thus, the coordinated control of the inertial suspension can be achieved. Under random road input, compared with passive suspension, the ride comfort performance indicators of the vehicle with inertial suspension based on dynamic surface control are significantly improved. Finally, a Hardware-in-the-Loop (HiL) test of the controller based on dynamic surface control is carried out to verify that the performance of the vehicle inertial suspension using the dynamic surface control algorithm had improved in terms of vehicle ride comfort. The error between the experimental results and the simulation results is about 8%, which verifies the real-time performance and effectiveness of the dynamic surface controller in the real controller.