Abstract
In response to the mutual constraint problem between comfort and safety of suspension in a single control mode, this paper designs a new road level recognition method and a multi-mode switching control strategy based on electro-hydraulic energy regeneration suspension. First, a Kalman observer based on vehicle dynamic response was designed to obtain road roughness information and then use the BiLSTM-SA-ResNet classification algorithm to recognize the road level. On this basis, a multi-mode switching control strategy with three modes of comfort, safety, and comprehensive is designed based on the road level and vehicle speed, and the control parameters of two-layer control are optimized by using a cheetah optimization algorithm. Finally, the time-domain simulation results compared with the fixed-mode control strategy show that the time-domain simulation results of vehicle dynamics performance show that under B-level road excitation, the RMS of sprung mass acceleration is reduced by 21.15% through multi-mode switching control, achieving the comfort target. Under the excitation of E-level road surface, the RMS of dynamic tire load is reduced by 23.61%, achieving the safety goal. Under D-level road surface excitation, there is a significant improvement in both sprung mass acceleration and dynamic tire load, achieving the comprehensive goal. In addition, compared with the fixed-mode control strategy, the average regeneration power of the multi-mode switching control strategy has increased by 51.92%, achieving the energy-saving requirements of the vehicle, indicating the effectiveness and superiority of the designed road level recognition algorithm and multi-mode switching control.
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