关键词: 空气悬架, 混合逻辑动态建模, 混杂自动机, 车身高度调节, 整车姿势控制

Abstract:  Aiming at the problems that the electronically controlled air suspension (EACS) system has obvious mixed dynamic characteristics, and it is not easy to accurately control the height and attitude of the vehicle. In this paper, a non-linear mechanism model for ECAS considering the pneumatic characteristics of the solenoid valves is firstly developed, and a hybrid automaton describing the switching state of each solenoid valve in the suspension system is designed by setting the range of body height, side camber and pitch angle. Secondly, the mixed logical dynamics (MLD) modelling method is used to compile the designed hybrid automaton into a standard MLD model, so that the switching states of the solenoid valves can be adjusted directly to achieve coordinated control between vehicle height and overall vehicle attitude. The results show that the hybrid automaton can precisely control the body height and effectively improve the overall vehicle attitude by controlling the solenoid valves logically, which improves the handling stability and ride comfort to a certain extent.