摘要
为提高飞机牵引车的平顺性和操纵稳定性,以主动悬架为研究对象,建立飞机牵引车1/4车体模型,提出一种模型参考自适应控制方法.引入广义天棚阻尼控制力并利用最优控制理论得到参考模型,该参考模型在行驶平顺性和操纵稳定性方面均优于被动悬架.采用李雅普诺夫稳定性理论求解自适应控制律,使被控模型跟踪参考模型的动力学状态.仿真结果表明,模型参考自适应控制能够改善悬架系统的性能,其性能指标与参考模型一致,而且对悬架系统参数变化具有一定的适应能力.
To improve the comfort and handling stability of aircraft tractor, a quarter body model of aircraft tractor is built, and a model reference adaptive control algorithm is applied to the active suspension of the vehicle. General skyhook control force is added to the car body, and the reference model is obtained by optimal control theory, which is better than passive suspension no matter in ride comfort and handling stability. Using Lyapunov stability theory to solve adaptive adjustment rules can make the dynamics of controlled model approach the dynamics of reference model. The simulation results show that model reference adaptive control can obviously improve the performance of the suspension system, and this algorithm has self-adaptability to the changes in the suspension parameters.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2012年第11期65-70,共6页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(50875054)
关键词
主动悬架
天棚阻尼控制
最优控制理论
参考模型
自适应控制
active suspension
skyhook damping control
theory of optimal control
reference model
adaptive control
