Research Article
Differential Evolution-Based PID Control of Nonlinear Full-Car Electrohydraulic Suspensions
Table 1
Parameters of the full-car model.
| | Parameters | Value |
| | Sprung mass () | 1060 kg | | Unsprung masses () | 40, 40, 35, 35 kg | | Pitch moment of inertia () | 2200 | | Roll moment of inertia () | 460 kg | | Distance from vehicle front axle to its centre of gravity () | 1 m | | Distance from vehicle rear axle to its centre of gravity () | 1.5 m | | Vehicle width () | 1.5 m | | Linear suspension stiffness at each wheel () | N/m | | Nonlinear suspension stiffness at each wheel () | N/m | | Tyre stiffness at each wheel () | N/m | | Linear suspension damping at each wheel () | 700 Ns/m | | Nonlinear suspension damping at each wheel () | 400 Ns/m | | Asymmetric suspension damping at each wheel () | 400 Ns/m | | Tyre damping at each wheel () | 80, 70 Ns/m | | Actuator parameter () | | | Actuator parameter () | 1 | | Actuator parameter () | | | Piston area () | | | Supply pressure () | 10,342,500 | | Time constant () | s | | Servo-valve gains () | 0.001 | | Bump amplitudes (, ) | 4, 6 | | Bump wavelength () | 5 | | Vehicle speed | 40 |
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