Electromechanical suspension has the advantages of rapid response, high efficiency, and strong integration. As the actuator for electromechanical suspension, rotary motors exhibit higher efficiency compared to linear motors. However, the motion conversion mechanisms are required to apply rotary motors in vehicle suspensions. The motion conversion mechanism of the connecting rod rocker arm electromechanical suspension reduces the shock during reversal and transmits smooth torque. However, the dynamic model of the connecting rod rocker arm electromechanical suspension is challenging to develop accurately due to the strong nonlinearity of the mechanism. This paper proposes a fundamental dynamic modeling approach for the connecting rod rocker arm electromechanical suspension based on kinematics and mechanics analysis. The complex-vector method and the dynamic-static analysis method are employed in the proposed modeling approach to analyze the kinematics and mechanics characteristics of the electromechanical suspension. Simulations and small-scaled prototype tests are conducted to verify the effectiveness of the proposed modeling approach. In addition, a linearization control system of permanent magnet synchronous motor (PMSM)-based connecting rod rocker arm electromechanical suspension is preliminarily investigated.
AbdelkareemMAMakrahyMMAbd-El-TawwabAM, et al. (2018a) An analytical study of the performance indices of articulated truck semi-trailer during three different cases to improve the driver comfort. Proceedings of the Institution of Mechanical Engineers - Part K: Journal of Multi-body Dynamics232(1): 84–102.
2.
AbdelkareemMAXuLAliMKA, et al. (2018b) Vibration energy harvesting in automotive suspension system: a detailed review. Applied Energy229: 672–699.
3.
AbdelkareemMAZhangRJingX, et al. (2022) Characterization and implementation of a double-sided arm-toothed indirect-drive rotary electromagnetic energy-harvesting shock absorber in a full semi-trailer truck suspension platform. Energy239: 121976.
4.
AzmiRMirzaeiMHabibzadeh-SharifA (2023) A novel optimal control strategy for regenerative active suspension system to enhance energy harvesting. Energy Conversion and Management291: 117277.
5.
BaiXFChenJ (2024) Pseudo-active actuators with positive-negative dampings. Journal of Intelligent Material Systems and Structures35(6): 649–660.
6.
BaiXHeG (2021) Pseudo‐active actuators: a concept analysis. International Journal of Manufacturing System Design1(2): 230–247.
7.
BingülÖYıldızA (2023) Fuzzy logic and proportional integral derivative based multi-objective optimization of active suspension system of a 4 × 4 in-wheel motor driven electrical vehicle. Journal of Vibration and Control29(5-6): 1366–1386.
8.
CosenzaCNiolaVPaganoS, et al. (2023) Theoretical study on a modified rocker-bogie suspension for robotic rovers. Robotica41(10): 2915–2940.
9.
DengWZhangQYanB, et al. (2024) Direct torque control of PMSM drives for common-mode voltage reduction and steady state performance improvement. IEEE Transactions on Transportation Electrification11(1): 1629–1639.
10.
DuongM-TChunY-D (2020) Optimal design of a novel exterior permanent magnet tubular machine for energy harvesting from vehicle suspension system. IEEE Transactions on Energy Conversion35(4): 1772–1780.
11.
EbrahimiBBolandhemmatHKhameseeMB, et al. (2011) A hybrid electromagnetic shock absorber for active vehicle suspension systems. Vehicle System Dynamics49(1-2): 311–332.
12.
EckertPRFlores FilhoAFPerondiEA, et al. (2018) Dual Quasi-Halbach linear tubular actuator with coreless moving-coil for semiactive and active suspension. IEEE Transactions on Industrial Electronics65(12): 9873–9883.
13.
El-SousyFFAminMMMohammedOA (2022) Robust adaptive neural network tracking control with optimized super-twisting sliding-mode technique for induction motor drive system. IEEE Transactions on Industry Applications58(3): 4134–4157.
14.
Federspiel-LabrosseJ (1955) Beitrag zum Studium und zur Vervol-lkommung der Aufhangung der Fahrzeuge. Automobiltechnische Zeitschrift57(3): 6370.
15.
FrenchCAcarnleyP (2002) Direct torque control of permanent magnet drives. IEEE Transactions on Industry Applications32(5): 1080–1088.
16.
GalluzziRCircostaSAmatiN, et al. (2021) Rotary regenerative shock absorbers for automotive suspensions. Mechatronics77: 102580.
17.
GuptaAJendrzejczykJMulcahyT, et al. (2006) Design of electromagnetic shock absorbers. International Journal of Mechanics and Materials in Design3: 285–291.
18.
JiangYWangRDingR, et al. (2024) Dual-loop model predictive control of permanent magnet linear synchronous motor for active suspension. IEEE Transactions on Energy Conversion40(1): 80–92.
19.
KawamotoYSudaYInoueH, et al. (2007) Modeling of electromagnetic damper for automobile suspension. Journal of system design and dynamics1(3): 524–535.
20.
LiFMaPZhaoY, et al. (2025) Optimization design and vibration reduction performance analysis of vehicle suspension structure. Journal of Vibration and Control, Epub ahead of print 24 January 2025.
21.
LiuJLiuJZhangX, et al. (2021) Transmission and energy-harvesting study for a novel active suspension with simplified 2-DOF multi-link mechanism. Mechanism and Machine Theory160: 104286.
22.
MaciejewskiIZlobinskiMKrzyzynskiT, et al. (2020) Vibration control of an active horizontal seat suspension with a permanent magnet synchronous motor. Journal of Sound and Vibration488: 115655.
23.
MancaRRuzimovSGalluzziR, et al. (2024) Enhancement of electromechanical load-leveling suspensions for automotive applications using reversible transmission mechanisms. Mechatronics102: 103229.
24.
NurettinAİnançN (2022) High-performance induction motor speed control using a robust hybrid controller with a supertwisting sliding mode load disturbance observer. IEEE Transactions on Industrial Electronics70(8): 7743–7752.
25.
PetkarSGThippiripatiVK (2022) A novel duty-controlled DTC of a surface PMSM drive with reduced torque and flux ripples. IEEE Transactions on Industrial Electronics70(4): 3373–3383.
26.
SchenkeMHaucke-KorberBWallscheidO (2023) Finite-set direct torque control via edge-computing-assisted safe reinforcement learning for a permanent-magnet synchronous motor. IEEE Transactions on Power Electronics38(11): 13741–13756.
27.
ShiXYuQWuZ, et al. (2024) Active control for vehicle suspension using a self-powered dual-function active electromagnetic damper. Journal of Sound and Vibration569: 117976.
28.
SunXWuMYinC, et al. (2021) Model predictive thrust force control for linear motor actuator used in active suspension. IEEE Transactions on Energy Conversion36(4): 3063–3072.
29.
TanLGaoJLuoY, et al. (2021) Super-twisting sliding mode control with defined boundary layer for chattering reduction of permanent magnet linear synchronous motor. Journal of Mechanical Science and Technology35: 1829–1840.
30.
WangRJiangYDingR, et al. (2022) Design and experimental verification of self-powered electromagnetic vibration suppression and absorption system for in-wheel motor electric vehicles. Journal of Vibration and Control28(19-20): 2544–2555.
31.
YangHQinYXiangC, et al. (2023) Active suspension robust preview control by considering actuator delay. IEEE Transactions on Intelligent Vehicles8(9): 4263–4274.
32.
ZhengJGaoHYuanB, et al. (2018) Design and terramechanics analysis of a Mars rover utilising active suspension. Mechanism and Machine Theory128: 125–149.
33.
ZholtayevDRubagottiMDoTD (2022) Adaptive super-twisting sliding mode control for maximum power point tracking of PMSG-based wind energy conversion systems. Renewable Energy183: 877–889.
