Design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection Control  

作　　者：Xiaofeng Yang Wei Wang Yujie Shen Changning Liu Tianyi Zhang 

机构地区：[1]School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang,212013,China [2]Automotive Engineering Research Institute,Jiangsu University,Zhenjiang,212013,China [3]Chongqing Key Laboratory of Urban Rail Transit System Integration and Control,Chongqing,400074,China [4]State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,Hunan university,Changsha,410082,China

出　　处：《Computer Modeling in Engineering & Sciences》2024年第8期1485-1506,共22页工程与科学中的计算机建模（英文）

基　　金：the National Natural Science Foundation of China(Grant Numbers 52072157,52002156,52202471);Natural Science Foundation of Jiangsu Province(Grant Number BK20200911);Chongqing Key Laboratory of Urban Rail Transit System Integration and Control Open Fund(Grant Number CKLURVIOM_KFKT_2023001);Jiangsu Funding Program for Excellent Postdoctoral Talent(Grant Number 2022ZB659);State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,Hunan University(Grant Number 82315004).

摘　　要：This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection Control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition process.Firstly,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed.Subsequently,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed.Next,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal parameters.Finally,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs.Simulation results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency range.Under random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire load.This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration iso

关 键 词：HMDV static eccentricity ADRC dynamic inertial suspension road excitation 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]