Vehicle active suspension inertia regulation method based on wheel supporting force, and control system

An inertial regulation method for active suspension based on a supporting force of each wheel, wherein the method comprises:

• adjusting the supporting force of each wheel and controlling expansion of each suspension cylinder to control a resultant force received by a vehicle in a vertical direction, so that respective resultant torques around a longitudinal axis and a horizontal axis passing through a center of mass are equal to zero;
• keeping the center of mass of the vehicle moving along a straight line or smooth curve;
• and
• keeping an attitude of the vehicle stable;
• wherein the inertial regulation method further comprises an inner loop control step and an outer loop control step, wherein the inner loop control step is used to control the supporting force of each wheel, and the outer loop control step is used to control an average value of all suspension cylinder strokes, the inner loop control step and the outer loop control step are independent of each other and have no coupling relationship;
• wherein the outer loop control step comprises:
• calculating the average value of all the suspension cylinder strokes based on each measured suspension cylinder stroke, comparing the average value of all the suspension cylinder strokes with a median value of the suspension cylinder strokes, taking the difference thereof as a target displacement, and controlling each suspension cylinder for the same expansion of displacement, so that the average value of all the suspension cylinder strokes tends to the median value.