Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm

Due to the lack of body stability emergency rescue vehicles, their attitude is insufficient and they are unable realize working while driving, resulting in low efficiency. Aiming at water tower fire truck, which equipped with an active suspension system, vehicle studied. First, combined system spray a 13-DOF integrated dynamic model for truck established. Using model-assisted disturbance rejection control method, controllers designed vertical displacement, pitch angle, roll angle attitude. Then, computer simulation carried out verify effectiveness this method. Finally, obstacle crossing experiment JP32G truck. The results show that when runs over triangular on one side two sides spray-active mode, peak–peak values reduced by 10.9% 23.2%, 23.7% 16.3%, respectively, compared passive hydro pneumatic suspension.