Abstract: Chassis development requires fast algorithms of suspension kinematics to improve the development efficiency and autonomous driving needs stable and real time algorithms of suspension kinematics to improve the accuracy of model predictive control under unsteady conditions. In this paper, the linear equations for the instantaneous velocity of the wheel center of the blade arm suspension are firstly established using vector and matrix tools and they are combined with the dynamic explicit integration to solve the trajectory of the suspension in real time. Then, the five typical characteristic curves obtained from the algorithm are compared with those acquired from ADAMS simulations and vehicle tests. The results show that the three methods have high consistency, while the real-time algorithm have higher accuracy compared to ADAMS simulation. Finally, the suspension CAD software is established based on the real-time algorithm, with a speed dozens of times faster than ADAMS simulation

Key words: blade arm suspension, multi-link suspension, suspension kinematics, vehicle dynamics, model predictive control