Ride Comfort Analysis of Unmanned Mining Vehicles Based on Torque-Compensated Semi-Active Hydro-Pneumatic Suspension

Abstract

Under the impetus of the national policy on intelligent mining equipment, the upgrading of the suspension of mining trucks has become a necessary condition to meet the growing demand of open-pit mines. To address the problem of severe vibration and instability caused by complex road surfaces, a semi-active oil-gas suspension control strategy with torque compensation is proposed. A nonlinear dynamic model of the suspension system was established, and its nonlinearity was analyzed using van der Waals equations. To optimize damping parameters in real time, an enhanced skyhook control algorithm with pitch moment and roll moment compensation was proposed. Simulation results show significant improvement under C-class random road excitation: compared with passive suspension, the proposed strategy can reduce vertical acceleration by 18.11%, pitch Angle acceleration by 18.26%, and roll Angle acceleration by 21.22%. On a long slope, the peak pitch and vertical acceleration at the center of gravity were reduced by 22.13% and 19.12%, respectively. This strategy effectively suppresses the larger fluctuations of the vehicle body by optimizing vibration and stability. The study verified the coordinated optimization mechanism between torque compensation and vertical vibration control, providing a theoretical basis for improving the ride and operational safety of mining autonomous trucks under complex conditions.