Vehicle-mounted stabilization platform system based on active suspension and its control method

摘要

The present invention discloses a vehicle-mounted stabilization platform system based on an active suspension and a control method thereof, and belongs to the field of vehicle control, and the system includes a vehicle body, a vehicle-mounted stabilization platform, an inertial measurement device, an electronic control device, a servo controller group, It includes a plurality of wheels, a suspension servo-actuated cylinder corresponding to the wheel one-to-one, and a displacement sensor. The wheel is divided into three groups, the upper chamber of the suspension servo-operated cylinder within the group is communicated, and the lower chamber is also communicated so that the wheels of the group form one support point for jointly supporting the vehicle body, and the three groups of wheels provide three support points. To form. The vehicle body pose is controlled by controlling the height of the three support points, and based on the measured pitching and roll angles of the vehicle-mounted stabilization platform, the amount of extension of each suspension servo-actuated cylinder required to return the vehicle-mounted stabilization platform horizontally is calculated. In addition, the expansion and contraction of each suspension servo-operated cylinder is controlled so that the on-vehicle stabilization platform is leveled when driving on uneven road surfaces. The present invention is important and widely applied in the fields of a wheeled crane, an elevator fire engine, an ambulance, and a luxury car.