The invention discloses a vehicle
active suspension coordination anti-saturation control method based on command filtering, and belongs to the field of automobile control. The method comprises the following steps of: 1, establishing a two-degree-of-freedom nonlinear
active suspension model; 2, reasoning and coordinating a formula required by the anti-saturation controller according to the suspension
mathematical model established in the step 1, and performing stability proving; and 3, performing controller parameter adjustment and
simulation result comparison. According to the invention, the conflict between the
vertical acceleration of the vehicle body and the dynamic travel of the suspension can be solved, and the riding comfort and the operation stability are effectively improved; in addition, the problem of saturation of main power can be solved, and the influence of output saturation of an
actuator on a suspension
system is effectively solved, so that the overall performance of the suspension is remarkably improved; and the derivative of
virtual control is obtained by adopting a command filtering mode, so that the controller is more beneficial to practical application, a better
control effect is obtained, and the controller can be applied to the field of suspension control.