This paper presents a vehicle attitude compensation algorithm based on state observer for vehicle semi-active suspension system equipped with four magneto-rheological dampers (MR dampers). The proposed algorithm including magneto-rheological damper control algorithm, attitude compensation control algorithm, and design method of state observer is to effectively improve ride comfort and control vehicle body attitude. First, the actual equivalent damping of magneto-rheological damper is introduced into state observer, and the parameter matrix of suspension system is updated in real time via precise discretization method to enhance the estimation accuracy of state observer. Then, the velocity signal estimated by state observer is employed as the evidence to realize attitude compensation control for vehicle body. Finally, relevant co-simulations and hardware-in-the-loop test are conducted to verify the validity of the proposed control algorithm. Results of simulations and tests demonstrate that the application of the control algorithm proposed in this paper can significantly improve ride comfort of magneto-rheological suspension and optimize vehicle body attitude.
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