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Volume 10
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10.3390/math10183391
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Article

Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm

by
Jianxu Zhu
1,
Dingxuan Zhao
1,*,
Shuang Liu
2,
Zilong Zhang
1,
Guangyu Liu
1 and
Jinming Chang
1
1
School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
2
School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
*
Author to whom correspondence should be addressed.
Mathematics 2022, 10(18), 3391; https://doi.org/10.3390/math10183391
Submission received: 3 August 2022 / Revised: 10 September 2022 / Accepted: 14 September 2022 / Published: 19 September 2022
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Abstract

Due to the lack of body stability of emergency rescue vehicles, their attitude stability is insufficient and they are unable to realize working while driving, resulting in low rescue efficiency. Aiming at the water tower fire truck, which is equipped with an active suspension system, the vehicle attitude stability is studied. First, combined with the active suspension system and spray system, a 13-DOF integrated dynamic model for the water tower fire truck is established. Using the model-assisted active disturbance rejection control method, the controllers are designed for the vertical displacement, pitch angle, and roll angle of the vehicle attitude. Then, the computer simulation is carried out to verify the effectiveness of this control method. Finally, the water spray obstacle crossing experiment is carried out with a JP32G water tower fire truck. The results show that when the vehicle runs over the triangular obstacle on one side and two sides in the integrated spray-active suspension mode, the peak–peak values of body pitch angle and roll angle are reduced by 10.9% and 23.2%, and 23.7% and 16.3%, respectively, compared with the passive hydro pneumatic suspension.
Keywords: water tower fire truck; active suspension; MADRC; vehicle attitude stability water tower fire truck; active suspension; MADRC; vehicle attitude stability

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MDPI and ACS Style

Zhu, J.; Zhao, D.; Liu, S.; Zhang, Z.; Liu, G.; Chang, J. Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm. Mathematics 2022, 10, 3391. https://doi.org/10.3390/math10183391

AMA Style

Zhu J, Zhao D, Liu S, Zhang Z, Liu G, Chang J. Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm. Mathematics. 2022; 10(18):3391. https://doi.org/10.3390/math10183391

Chicago/Turabian Style

Zhu, Jianxu, Dingxuan Zhao, Shuang Liu, Zilong Zhang, Guangyu Liu, and Jinming Chang. 2022. "Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm" Mathematics 10, no. 18: 3391. https://doi.org/10.3390/math10183391

APA Style

Zhu, J., Zhao, D., Liu, S., Zhang, Z., Liu, G., & Chang, J. (2022). Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm. Mathematics, 10(18), 3391. https://doi.org/10.3390/math10183391

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