In order to improve the comfort performance in commercial vehicles, this study
proposes a hierarchical control strategy that integrates the evaluation and
migration of control algorithms. First, a quarter-vehicle model with
four-degree-of-freedom (4-DOF) is constructed, incorporating the dynamics of the
wheel, frame, driver’s cab, and seat. The key modal characteristics of the model
are then verified through amplitude–frequency analysis, confirming their
consistency with the typical vibration patterns observed in actual commercial
vehicles, which provides the foundation for subsequent control strategy
evaluation and migration. Then, based on a standard two-degree-of-freedom
(2-DOF) suspension model, a weighted comprehensive evaluation function is
developed to account for comfort, structural safety, handling stability, and
both time- and frequency-domain performance indicators. Using this evaluation
function, various control algorithms—including Skyhook control (SH),
acceleration-based damping control (ADD), and proportional–integral–derivative
control (PID)—are systematically assessed. The control algorithm is migrated to
the 4-DOF model to carry out the hierarchical collaborative control. The results
show that this method can effectively inhibit vibration transmission to enhance
ride comfort and improve structural safety at the same time, while maintaining
an acceptable level of handling performance. The transferability and
applicability of the hierarchical control method are validated for the
considered vertical dynamics scenarios. This article provides a new theoretical
method and technical pathway for the comfort-oriented performance optimization
of commercial vehicles.
