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<p>To enhance chassis performance of wheeled engineering vehicles (WEVs), this paper proposes a dual-layer control strategy for the active suspension system, consisting of a high-level task allocator (HLTA) and a lower-level motion tracker (LLMT). Based on the static wheel load and the kinematic model of the vehicle body attitude, the HLTA is designed to calculate and allocate the desired positions for the active suspension actuators (ASA). To address the position tracking problem of the ASA, the LLMT adopts a finite-time terminal sliding mode control method based on an adaptive disturbance observer. On the one hand, this method reduces the impact of parameter uncertainty and unmodeled dynamics on the ASA; on the other hand, achieves high-precision and fast position tracking of ASA. An experimental platform for a 3-axle WEV was constructed to validate the effectiveness of the proposed method. Compared with passive suspension, attitude control and wheel load control, the proposed method reduces the range of changes in vehicle attitude angle by 49.62%, 25.26%, and 35.41%, respectively; improves driving smoothness by 52.06%, 44.71%, and 35.67%; and enhances tire-road adhesion performance by 48.13%, 32.87%, and 16.81%, respectively. The research results of this article provide reference for the practical application of active suspension of WEVs.</p>

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Dual-layer control strategy and experiment for wheeled engineering vehicle active suspension

  • 期刊论文

  • 发表日期：

    2026年4月8日

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  • Zhenjun Lin,
  • Shuang Liu,
  • Shaomeng Gu,
  • Dingxuan Zhao

摘要

To enhance chassis performance of wheeled engineering vehicles (WEVs), this paper proposes a dual-layer control strategy for the active suspension system, consisting of a high-level task allocator (HLTA) and a lower-level motion tracker (LLMT). Based on the static wheel load and the kinematic model of the vehicle body attitude, the HLTA is designed to calculate and allocate the desired positions for the active suspension actuators (ASA). To address the position tracking problem of the ASA, the LLMT adopts a finite-time terminal sliding mode control method based on an adaptive disturbance observer. On the one hand, this method reduces the impact of parameter uncertainty and unmodeled dynamics on the ASA; on the other hand, achieves high-precision and fast position tracking of ASA. An experimental platform for a 3-axle WEV was constructed to validate the effectiveness of the proposed method. Compared with passive suspension, attitude control and wheel load control, the proposed method reduces the range of changes in vehicle attitude angle by 49.62%, 25.26%, and 35.41%, respectively; improves driving smoothness by 52.06%, 44.71%, and 35.67%; and enhances tire-road adhesion performance by 48.13%, 32.87%, and 16.81%, respectively. The research results of this article provide reference for the practical application of active suspension of WEVs.