The vehicle height and body posture adjustment of electronically controlled air suspension (ECAS) poses great challenges to hybrid control, since it involves discrete events of solenoid valve (SV) switching and dynamic evolutions of continuous variables. This article investigates in the modeling and verification of the vehicle height and body posture adjustment control system. A nonlinear mechanism model of the ECAS which considers the pneumatic characteristics of the SV is established. On the basis of mixed logical dynamical (MLD) modeling approach, a hybrid automaton describing on–off statuses transition equations of charging SV, discharging SV and four air spring SVs is established and then is compiled into the standard MLD model by using hybrid system descriptions language, realizing the coordinated control between the vehicle height and body posture by directly adjusting the SV on–off statuses. Simulation tests and bench tests are conducted and the results are presented to show how the designed hybrid automaton can be successfully applied to solve the difficulties that exist in the ECAS.

中文翻译：

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一种电控空气悬架车高与车身姿态调节混合自动机设计

电控空气悬架 (ECAS) 的车身高度和车身姿态调节对混合控制提出了巨大挑战，因为它涉及电磁阀 (SV) 开关的离散事件和连续变量的动态演化。本文研究了车辆高度和车身姿态调节控制系统的建模和验证。建立了考虑SV气动特性的ECAS非线性机构模型。在混合逻辑动力学（MLD）建模方法的基础上，建立了描述充电SV、放电SV和四个空气弹簧SV的开关状态转换方程的混合自动机，然后使用混合系统描述编译成标准MLD模型语，通过直接调节SV开关状态，实现车辆高度和车身姿态的协调控制。进行了仿真测试和台架测试，结果显示了设计的混合自动机如何成功应用于解决 ECAS 中存在的困难。