Machine-Hydraulic Coupling Pose Stabilization Adjustment Based on Backstepping Control

To solve the problem of tilting of the body due to the slope of the road surface during the driving process of heavy-duty vehicles, a machine-hydraulic coupling position attitude leveling control method based on backstep control is proposed. Firstly, based on the vehicle dynamics model, the continuous flow equation of the hydraulic system, the force balance equation of the hydraulic cylinder, and the throttling equation of the servo valve, the machine-hydraulic coupling model of the vehicle with seven degrees of freedom is constructed. Then, the backstepping controller is used to build the electro-hydraulic servo system control model to realize the displacement tracking control of the hydraulic system. Finally, based on the displacement tracking control of the electro-hydraulic servo system, the angle error decoupling method is used to control the roll angle and pitch angle of the body, to achieve the purpose of body leveling. The effectiveness of the proposed method is compared with the traditional passive suspension through numerical simulation, and it is evident from the results that the machine-hydraulic coupling position attitude leveling control method based on backstep control can effectively reduce the pitch angle and roll angle generated during the driving process of heavy-duty vehicles, and show a good posture adjustment effect.