Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm

Jianxu Zhu, Dingxuan Zhao (), Shuang Liu, Zilong Zhang, Guangyu Liu and Jinming Chang
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Jianxu Zhu: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
Dingxuan Zhao: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
Shuang Liu: School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
Zilong Zhang: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
Guangyu Liu: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
Jinming Chang: School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China

Mathematics, 2022, vol. 10, issue 18, 1-17

Abstract: Due to the lack of body stability of emergency rescue vehicles, their attitude stability is insufficient and they are unable to realize working while driving, resulting in low rescue efficiency. Aiming at the water tower fire truck, which is equipped with an active suspension system, the vehicle attitude stability is studied. First, combined with the active suspension system and spray system, a 13-DOF integrated dynamic model for the water tower fire truck is established. Using the model-assisted active disturbance rejection control method, the controllers are designed for the vertical displacement, pitch angle, and roll angle of the vehicle attitude. Then, the computer simulation is carried out to verify the effectiveness of this control method. Finally, the water spray obstacle crossing experiment is carried out with a JP32G water tower fire truck. The results show that when the vehicle runs over the triangular obstacle on one side and two sides in the integrated spray-active suspension mode, the peak–peak values of body pitch angle and roll angle are reduced by 10.9% and 23.2%, and 23.7% and 16.3%, respectively, compared with the passive hydro pneumatic suspension.

Keywords: water tower fire truck; active suspension; MADRC; vehicle attitude stability (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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