Semi-active magnetorheological suspension of a full-vehicle model based on combined vertical and attitude control

The present work proposes a novel control algorithm of semi-active magnetorheological (MR) suspension for full vehicle vibration suppression. The mathematical model of full vehicle with seven-degrees-of-freedom is established and its vibration mode analysis is conducted. The proposed controller derives the desired current for individual MR damper by mitigating the vertical motion of vehicle body and the body attitude adjustment. Compared with existing control algorithms, the proposed controller can avoid complex inverse model of MR damper and force tracing issue. The semi-active control effectiveness is evaluated. The results show that the vehicle body acceleration, pitch and roll angle are greatly reduced by the proposed controller.