Dynamic modeling and linearization control of a connecting rod rocker arm electromechanical suspension

Electromechanical suspension has the advantages of rapid response, high efficiency, and strong integration. As the actuator for electromechanical suspension, rotary motors exhibit higher efficiency compared to linear motors. However, the motion conversion mechanisms are required to apply rotary motors in vehicle suspensions. The motion conversion mechanism of the connecting rod rocker arm electromechanical suspension reduces the shock during reversal and transmits smooth torque. However, the dynamic model of the connecting rod rocker arm electromechanical suspension is challenging to develop accurately due to the strong nonlinearity of the mechanism. This paper proposes a fundamental dynamic modeling approach for the connecting rod rocker arm electromechanical suspension based on kinematics and mechanics analysis. The complex-vector method and the dynamic-static analysis method are employed in the proposed modeling approach to analyze the kinematics and mechanics characteristics of the electromechanical suspension. Simulations and small-scaled prototype tests are conducted to verify the effectiveness of the proposed modeling approach. In addition, a linearization control system of permanent magnet synchronous motor (PMSM)-based connecting rod rocker arm electromechanical suspension is preliminarily investigated.