Attitude Control of Active Suspension All-Terrain Vehicle Based on LQR

In order to enhance the attitude control ability of all-terrain vehicles in complex terrain, a dual closed-loop control strategy based on LQR controller is designed with series active suspension all-terrain vehicles as the research object. Firstly, considering the kinematic and dynamic relationships between each mechanism of the all-terrain vehicle, a vehicle dynamic model based on the speed control of the actuator is constructed on the basis of the traditional active suspension force control. Secondly, a terrain estimation algorithm based on all-terrain vehicle model is studied, and a LQR controller suitable for attitude adjustment is designed. Finally, three pavement models are established to simulate real road conditions for verifying the accuracy of the dynamic model with terrain estimation model and the effectiveness of attitude control. The results show that the collaborative control strategy proposed in this paper has good adaptability to working conditions, and the peak and Root mean square values of vertical displacement, pitch angle and roll angle of all-terrain vehicle body are reduced by 30–50%, which can greatly improve the ride comfort and attitude stability of all-terrain vehicle.