Linear Active Disturbance Rejection Control on Magnetorheological Suspension System of Heavy Vehicle

To address the problem of the existing control methods of heavy vehicle magnetorheological suspension system, such as model parameter uncertainty and system itself and external pavement disturbances. A linear active disturbance rejection control method of the 1/4 heavy vehicle magnetorheological suspension system is proposed, and it designs the extended state observer and controller, by using singular perturbation theory, it is proved that the proposed controller can make the closed-loop system asymptotically stable. According to simulation analysis, under the condition that the random pavement input is class E pavement, when the control gain is increased, the relative displacement, control quantity and total disturbance estimation of the vehicle suspension are reduced, and the control gain also has a certain influence on the sprung mass acceleration and the dynamic tyre deformation. The linear active disturbance rejection control magnetorheological suspension is quantitatively compared with passive suspension and PID magnetorheological suspension, the RMS value in sprung mass acceleration decreased by 25.6 and 3.7%, suspension working space decreased by 6.1 and 1.2%, and dynamic tyre deformation decreased by 16.9 and 0.8%. Therefore, the performance of linear active disturbance rejection control magnetorheological suspension is obviously better than that passive suspension and PID magnetorheological suspension, and linear active disturbance rejection control method has fewer adjustment parameters and less dependence on the model, so it can be widely used in practical engineering.