Multi-mode switching control of electromagnetic hybrid suspension based on human subjective sensation

This study proposes a multi-mode switching control strategy based on electromagnetic hybrid suspension (EMHS) to achieve the best relationship possible between the vehicle’s vibration reduction performance and energy consumption. The working modes of EMHS are divided into active, semi-active, and energy recovery modes according to the relationship between the root mean square of weighted acceleration and the human subjective sensation. The two key switching parameters of the analysis sampling interval and switching judgment times are introduced to optimize the switching conditions and reduce the deterioration of comfort and handling stability caused by frequent system switching in mode switching decisions. In the sub-modes, it’s designed that an LQG main control loop uses an ant colony algorithm to optimize parameters to obtain the ideal output force. And inner-loop control strategies in active and semi-active modes are designed so that the actual force output by the actuator tracks the ideal force. The results show that the multi-mode switching control strategy can switch the EMHS reasonably in the three modes and achieve good vibration reduction performance. The RMS of SMA, SDD, and TDL are reduced by 27.5%, 6.3%, and 17.6%, respectively under the variable conditions road.