Cooperative Control of Interconnected Air Suspension Based on Energy Consumption Optimization

Table 1

Specifications of the model car.

Parameter name and unit	Value	Parameter name and unit	Value
Unloaded sprung mass Mb (kg)	4500 kg	Unloaded unsprung mass of front axle Muf (kg)	300 kg
Unloaded unsprung mass of rear axle Mur (kg)	500 kg	The inertia of sprung mass about X-axis Ir (kg·m^2)	3757 kg m^2
The inertia of sprung mass about Y-axis Ip (kg·m^2)	7391 kg m^2	Height of sprung mass centroid hcg (m)	1.1 m
Distance from the body centroid to front axle lf(m)	2.665 m	Distance from the body centroid to rear axle lr (m)	1.27 m
Tire stiffness Kt (kN/m)	210 kN/m	Wheelbase L(m)	3.935 m
Front track width Bf(m)	1.665 m	Rear track width Br(m)	1.525 m
The damping force of shock absorber in extension stroke F1 (N)	2915 N	The damping of shock absorber in compression stroke F2 (N)	1335 N