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The hub-driven virtual rail train is a novel urban transportation system that amalgamates the benefits of modern trams and buses. However, this system is plagued by issues such as decreased ride comfort and severe deformation of urban roads due to the increase in sprung mass and long-term rolling at the same position. To address these concerns and improve the human-vehicle-road friendliness of the virtual rail train, we propose an Improved Sky-Ground Hook and Acceleration-Driven Damper control (Improved SH-GH-ADD control) strategy for the semi-active suspension system. This control monitors the vibration acceleration signal of the unsprung mass in real-time and selects the mixed Sky-Hook and Acceleration-Driven Damper (SH-ADD) control or the mixed Ground-Hook and Acceleration-Driven Damper (GH-ADD) control based on the positive and negative values of the vibration acceleration of the unsprung mass. The Improved SH-GH-ADD control combines the advantages of SH-ADD control and GH-ADD control to achieve control of the sprung mass and unsprung mass in the full frequency band. Finally, through simulation and comparative analysis with traditional SH-ADD, GH-ADD, and mixed SH-GH control, we demonstrate the exceptional performance of the proposed algorithm.

Research on Human-Vehicle-Road Friendliness Based on Improved SH-GH-ADD Control