Turn-on/off control with dynamic significance of active suspension based on energy dissipation principle for manned lunar rover under low gravity and rough terrain conditions

Lunar terrain presents unique challenges due to its extreme roughness, demanding enhanced ride comfort for manned lunar rovers. This paper developed an electromechanical active suspension, the rotating joint parallel active suspension (RJPAS), specifically designed for such vehicles. This suspension system was experimentally tested under simulated lunar gravity (1/6 g) and rugged terrain conditions. The minimal combination of controller feedback was determined based on the dynamic significance of control parameters. Subsequently, we defined the four vibration stages of the suspension system and proposed a turn-on/off scheme for a double parallel PID controller aimed at improving the ride comfort and attenuating suspension vibration, as well as selecting controlled parameters for suspension energy convergence to minimize suspension vibration. In addition, the stability of the turn-on/off scheme was analyzed. Simulation tests on random road conditions confirmed the superiority of the turn-on/off control scheme compared to constant -on control in terms of body acceleration (BA), suspension dynamic deflection (SDD), and active torque power. Finally, a quarter -vehicle test rig equipped with the RJPAS was used to practically implement the active suspension, validating the feasibility of both the turn-on/off control scheme and the RJPAS structure.