Method and system for identifying time-varying characteristics of heavy-load vehicle suspension

A method for identifying time-varying characteristics of heavy-load vehicle suspension, comprising a non-transitory computer readable medium operable on a computer with memory for the method for identifying time-varying characteristics of heavy-load vehicle suspension, and comprising program instructions for executing the following steps of:

• a). collecting, using sensors, a sequence state of mining truck operations;
• b). predicting, using a deep learning network, one or more parameter-related factors based on the sequence state;
• c). estimating, using a linear dynamics model considering longitudinal-vertical coupling effects, stiffness and damping coefficients as key suspension parameters;
• d). predicting, using a nonlinear dynamics model considering longitudinal-vertical coupling effects, a predicted state at a next time step based on the one or more parameter-related factors and the key suspension parameters;
• e). updating network parameters of the deep learning network using a state loss Lp between the predicted state and a target state detected by the plurality of sensors serves as the loss error term;
• wherein the linear dynamics model considering longitudinal-vertical coupling effects comprises a vehicle body with mass mc and a pitch moment of inertia Ic, and a front axle and a rear axles with unsprung masses mtf and mtr respectively;
• wherein suspension forces transmitted to the vehicle body from the front axle and the rear axles are Ff and Fr, and road excitations for front and rear tires are zqf and zqr;
• wherein degrees of freedom (DoF) of the linear dynamics model include a vertical displacement of a center of gravity (CoG)zc, a pitch angle θc, and vertical displacements of the unsprung masses of the front axle and the rear axle ztf and ztr;
• wherein Fc represents an inertial force acting on the CoG due to an acceleration a and a velocity v along an x-axis, and Mc represents a moment of inertia;
• wherein the suspension stiffness and damping coefficients are k and c, with subscripts f and r representing front and rear suspensions, and a subscript t representing a tire;
• wherein distances from the CoG to the front axle and the rear axles are ac and bc respectively, and a vertical distance between the CoG and a pitch center PC is Δh;
• and
• f). improving vehicle stability under heavy-duty and off-road conditions while prolonging suspension system longevity based on the identifying time-varying characteristics of the heavy-load vehicle suspension.