Coordination Control of Multi-Axis Steering and Active Suspension System for High-Mobility Emergency Rescue Vehicles

Abstract

This study proposes a coordinated control strategy to solve the coupling problem between the multi-axle steering system and the active suspension system of emergency rescue vehicles. Firstly, an eleven-degree-of-freedom coupling model of an emergency rescue vehicle is established. Secondly, a dual sliding mode (DSM) controller is designed for the multi-axle steering system and a dual linear quadratic regulator (DLQR) controller is designed for the active suspension system. Finally, the coordinated control strategy is designed, and the weight values are selected using the fuzzy algorithm. Results show that compared with the individual control, the root mean square (RMS) value of the body roll angle, roll angle acceleration, and yaw angle acceleration with coordinated control are reduced by 16.89%, 29.08%, and 27.75%, respectively. The proposed coordinated control strategy effectively improves the handling stability and ride comfort of the vehicle.