装甲车辆电液伺服主动悬挂系统随机控制及台架实验研究

A STUDY ON THE STOCHASTIC CONTROL OF HYDROELECTRIC ACTIVE SUSPENSION FOR ARMORED VEHICLES AND RIG TEST

本文建立了电液主动悬挂系统的数学模型 ,基于随机最优控制理论 ,设计了最优控制器。在此基础上 ,利用最小范数法 ,详细研究了主动悬挂的次优控制规律。提出了一种取舍反馈变量的新方法———灵敏度分析法 ,解决了次优控制在工程应用中的反馈变量选择问题。利用研究的理论和方法 ,立足实际的车辆悬挂参数 ,设计了次优控制器 ,并进行了数值仿真和台架实验。结果表明 ,提出的次优控制策略和灵敏度分析方法是可行的 ;设计的次优控制器和最优控制器具有相当的控制效果 ,在低频区能大幅度衰减车体加速度和轮胎变形 。

A mathematical model was built up for hydroelectric active suspension in vehicles. Relying on optimal control theory, an optimal controller was designed. Suboptimal control strategy for active suspension was studied in detail using minimized norm. A new method of sensitivity analysis for determining the feedback variable was proposed and used to solve problems in selecting feedback variables for engineering applications. Based on actual vehicle parameters and theoretical studies, the suboptimal controller was designed. It was then simulated and tested with rig experiment. Simulation and experimental results shows that the suboptimal control strategy and sensitivity analysis proposed in the paper are feasible. It also shows that the suboptimal and optimal controllers have the same effects on vehicle vibration isolation. Within lower frequency domains, they can both reduce vehicle body acceleration and tire displacement to some degree and are effective in enhancing the riding comfort and handling stability.