Multiple Suspensions Coordinated Control for Corner Module Architecture Intelligent Electric Vehicles on Stepped Roads

During natural disasters, stepped roads often emerge, and the limited coordination control capabilities of traditional vehicle suspensions on such roads significantly hinder rescue operations. To tackle this challenge, a coordinated control process and controller for multiple suspensions of corner module architecture intelligent electric vehicles (C-V) is proposed. Initially, a coordinated control process for multiple suspensions on stepped roads is designed, and an analysis of the stability mechanisms involved is conducted. Addressing dynamic vehicle issues related to the control process, a novel dynamic model is established, considering factors such as suspension geometry, bumper blocks, and vehicle supported by three wheels. Following this, a feedforward and feedback coordinated controller are developed. Feedforward values are determined by steady-state suspension forces and suspension deflection (SD), while feedback control is designed based on dynamic sliding mode control (DSMC). Finally, experimental validation confirms the accuracy of the active suspension systems (ASS) model. The precision of the established dynamic model is verified against CarSim, and processor-in-the-loop (PIL) results confirm the effectiveness of the coordinated control process and controller. In the described configuration, C-V demonstrates exceptional control performance on stepped roads with heights of up to 500 mm.