Research on consistency collaborative control of multi actuators in the vehicle semi-active suspension for performance enhancement

A consistency collaborative control of multi actuators in the vehicle semi-active suspension is proposed in this paper to balance the vertical, pitch, and roll dynamics of the vehicle body under driving conditions, while meeting boundary constraints of suspension travel and wheel contact. Especially when the vehicle is traveling at a constant speed in a straight line, the four wheels encounter different road-surface elevation inputs. Additionally, the time-varying dynamic response delay and nonlinear characteristics of the actuator are also considered. In this study, the damping-adjustable suspension system is analyzed. Firstly, the full vehicle is decoupled into four sets of quarter vehicles with internal constraints, transforming the underactuated coupling control problem into a collaborative consistency control problem. Secondly, based on the dynamic relationship between displacement differences, velocity differences at four quarter vehicles and the vehicle's heave, pitch, and roll dynamics. A second-order collaborative consensus protocol is adopted to minimize the displacement differences and velocity differences among the decoupled quarter vehicles, forming the basis for collaborative goals. Meanwhile, to mitigate the risk of vehicle dynamic divergence caused by time delay, the second-order consistency collaborative control method uses real-time information interaction and joint decision-making in cyclic iterations to compensate for it, ensuring control robustness. Furthermore, the proposed method's effectiveness and superiority are validated through simulation analysis. Finally, vehicle experiments are conducted to verify the method's robustness and feasibility for real-world deployment.