Explicit model predictive control of magnetorheological suspension for all-terrain vehicles with road preview

Abstract

Abstract The integration of magnetorheological (MR) semi-active suspension systems in all-terrain vehicles (ATV) has garnered significant attention due to their ability to enhance damping performance and off-road capabilities. However, traditional control strategies result in poor control accuracy and limited vibration reduction effects when facing complex road excitations and impact disturbances. With technological advancements, enhanced vehicle environmental perception and road sensing capabilities have made it possible to implement model predictive control (MPC) for vehicle suspensions. Nevertheless, traditional MPC is limited in vehicle suspension applications due to its high computational complexity. To address these issues, this study introduces an explicit model predictive control based on road preview (EMPC-P). Firstly, road data obtained through a non-contact measurement method enables the system to perceive road excitation information in advance. Subsequently, a 7 Degree-of-Freedom (7-DOF) suspension model incorporating road excitations is constructed. By adhering to system constraints and employing a multiparameter optimization method, the control problem based on rolling optimization is transformed into an explicit polyhedral system. The offline precomputation of control state relations enhances the computational efficiency of the control system. Through this approach, the designed EMPC allows the vehicle suspension system to make optimal control decisions quickly and accurately in response to complex driving conditions, thus improving the damping effect of the system. Through a combined approach of simulation and experimental validation, the designed EMPC-P controller is compared with the Skyhook controller under preview and non-preview states, respectively. Empirical testing confirms that the EMPC-P exhibits superior damping effects, significantly improving vehicle ride comfort and handling stability.