单自由度磁流变阻尼实验台多控制算法仿真对比研究

Simulation and Analysis of Single-DOF MRF Damper Control Suspension Model Based on Two Control Algorithms

建立了以加速度作为路面激励输入信号,且不考虑非悬置质量的履带车辆单自由度磁流变阻尼控制实验台动力学模型,选定状态变量,推导出悬挂系统状态方程和振动微分方程。依据现代控制理论,分别采用滑移模态控制和极点配置控制算法实现实验台动力学模型的仿真计算,对比分析了在三种不同采样频率下,两种不同控制算法的控制效果,并与被动控制效果进行比较。结果表明,两种算法都能很好地控制车体相对位移、相对速度和加速度,滑移模态控制效果更好。滑移模态控制不仅适用线性问题而且适用非线性问题,因此比极点配置更实用。最后分析确定了最佳仿真采样频率,为控制算法的实验台调试奠定了基础。

Single-DOF dynamic model of tracked-vehicle is established with road acceleration actuators as excitation and without considering the non-suspend molar. The state-space representation and vibration differential representation of the suspension system are derived by selecting state variables. According to the modern control theory, the dynamic model is computed, respectively, with the following control algorithms： sliding mode and pole assignment control algorithms. The effects of vibration control are compared and analyzed against passive control under three different sample frequencies. The result shows that the relative displacement and relative velocity and acceleration of the track vehicle are reduced greatly under the two control algorithms.The sliding mode control algorithm enjoys a better control effect than the pole assignment algorithm. In fact, sliding mode control algorithm finds wider applications than pole assignment one because it can be used not only for linear problems but also for nonlinear problems. The optimal sample frequency is determined. The above work lays a foundation for debugging of the control algorithms on the test bench.