Practice of fast body attitude control for multi-axle active suspension vehicles via bi-directional attitude-suspension kinematics modelling

Multi-axle off-road vehicles with suspension lifting function can achieve some robotic manoeuvring effects through body attitude and wheel lifting adjustment, but carry larger loads. In the face of the hyperstatic and coupled-bearing challenges of multi-axle suspension systems, constructing a kinematic model to guide attitude transitions is a fundamental part of active suspension control. Firstly, the bi-directional kinematic relationship between body attitude and suspension displacement on uneven ground is presented to provide graphical interaction for the driver. Secondly, multibody dynamics simulations are carried out for vehicle state calculation and body attitude adjustment. Finally, a three-axle independent hydraulic suspension experimental platform is developed, and active attitude control experiments are carried out. Experimental results show that the scheme can achieve flexible and effective attitude control of multi-axle vehicles under complex ground conditions, thus playing a positive role in enriching the active suspension control functions of multi-axle vehicles and supporting the vehicle extrication.