With the development of science and technology, the automatic leveling system combines the electronic, control and hydraulic technologies, and realizes the integration of electromechanical and hydraulic systems. Therefore, based on Backstepping control algorithm, a vehicle body attitude control strategy of double closed loop control system consisting of body posture controller and force tracking controller was proposed for the whole vehicle hydro pneumatic suspension system with the purpose of body automatic leveling. First of all, the vehicle suspension system model was established, and its outer loop used the automatic leveling Backstepping control of full vehicle suspension system to achieve the body height adjustment. The inner loop used the sliding mode control algorithm to track the desired tracking force of the outer ring, and then compensated for the nonlinearity of the valve group and the nonlinear stiffness of the hydro pneumatic suspension. The automatic leveling control of car body was realized under the condition that the parameters of different road and control system were uncertain. Through the simulation and analysis of the variation curves of the variables in the regulation process, it was found that the control strategy can meet the requirements.
Backstepping Body posture adjustment system Automatic leveling
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This work was supported by the National Key Research and Development Program of China (Grant No. 2016YFD0700403).
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