Height-posture and load coupling control methodology of URAPM and its application in active suspension control of multi-axle vehicles
Zhenhua Wu,
Fan Zhang,
Jintian Cai
et al.
Abstract:Unidirectional redundant actuated parallel mechanism (URAPM) is the physical prototype of active suspension system, truck crane outrigger system, etc. As the number of adjustment mechanisms (AMs) increases to more than three, the difficulty of height-posture control of the upper component (UC) increases considerably. The AMs load control is also tough but highly underappreciated, which in turn causes height-posture disturbance. In this work, a convenient height-posture and bearing load coupling control methodo… Show more
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