ADF-PIUD Decoupling Control for Body Stability of Wheel-Type Engineering Vehicles with a Robotic Arms Under Multiple Working Conditions

Abstract

To address the coupling between the vertical and pitch motions of a vehicle body and the difficulty of suppressing instantaneous large impact under combined road- and operation-induced excitations, a five-degree-of-freedom (5-DOF) half-vehicle dynamic model of a two-axle wheeled engineering vehicle with a robotic arm is developed, and an ADF-PI∪D composite control algorithm is proposed. The proposed algorithm decouples the vertical and pitch motions of the vehicle body through acceleration-difference feedback (ADF) and integrates PI∪D control with fuzzy adaptive gains to effectively suppress the vehicle body’s vibration under combined excitations. Numerical simulation results demonstrate that the proposed ADF-PI∪D control achieves significant improvements over the passive suspension under three representative operating conditions, namely instantaneous large impact load, three-bump road excitation, and Class-C random road excitation. Specifically, the body vertical acceleration is reduced by 87.04%, 72.42%, and 50.08%, respectively, while the pitch angular acceleration is reduced by 96.05%, 96.01%, and 91.60%, respectively. These results indicate that the proposed algorithm can effectively decouple the vertical and pitch motions while significantly suppressing vehicle-body vibration across all considered operating conditions, providing a feasible approach for attitude-stability control of active suspension systems in wheeled engineering vehicles.