Design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection Control

Xiaofeng Yang^1,3,4, Wei Wang^1,3,4,*, Yujie Shen^2,4, Changning Liu^1,3,4, Tianyi Zhang^1,4
1 School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, 212013, China
2 Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, China
3 Chongqing Key Laboratory of Urban Rail Transit System Integration and Control, Chongqing, 400074, China
4 State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle, Hunan university, Changsha, 410082, China
* Corresponding Author: Wei Wang. Email: email

Computer Modeling in Engineering & Sciences https://doi.org/10.32604/cmes.2024.049837

Received 19 January 2024; Accepted 09 April 2024; Published online 06 May 2024

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Abstract

This paper addresses the impact of vertical vibration negative effects, unbalanced radial forces generated by the static eccentricity of the hub motor, and road excitation on the suspension performance of Hub Motor Driven Vehicle (HMDV). A dynamic inertial suspension based on Active Disturbance Rejection Control (ADRC) is proposed, combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC, which distinguishes between internal and external disturbances and arranges the transition process. Firstly, a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity. A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed. Subsequently, the passive suspension model is studied under different grades of road excitation, and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed. Next, the three main components within the ADRC controller are designed for the second-order controlled system, and optimization algorithms are used to optimize its internal parameters. Finally, the performance of the traditional passive suspension, the PID-based controllable dynamic inertial suspension, and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs. Simulation results show that, under sinusoidal road input, the ADRC-based controllable dynamic inertial suspension exhibits a 52.3% reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension, with significant performance optimization in the high-frequency range. Under random road input, the ADRC-based controllable dynamic inertial suspension achieves a 29.53% reduction in the root mean square value of vehicle body acceleration and a 14.87% reduction in dynamic tire load. This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration isolation performance.