Adaptive hydraulic active suspension control for traversing rough terrain

This paper presents the adaptive hydraulic active suspension applied to the six-wheel off-road vehicle. Both four-link articulated mechanical structure and power transported hydraulic system are constructed. Nonlinear mathematical model is established for the nonlinear uncertain hydraulic system. The advantages of self adaptive suspensions and active suspensions are combined and introduced into the suspension system. The vehicle can reposition its center of mass by adjusting joint angles to enhance tipover stability during rough terrain traverse. A double loop auto disturbances rejection control (ADRC) method is employed and pressure control system is designed with displacement as random value responding to changes in load. The experimental results show that the adaptive hydraulic active suspension has greatly improved the vehicle adaptability and stability in rough terrain.