履带车半主动悬架的复合控制策略研究

Study on Complex Control Strategy for Semi-active Suspension of Tracked Vehicles

针对履带车行驶路况的多样性、复杂性以及自身结构的特殊性提出了一种基于磁流变阻尼器的履带车辆半主动悬架智能复合控制方法。以1/2履带式车辆悬挂系统为研究对象,对车体的垂直振幅、俯仰角以及车体的垂直振动加速度响应特性进行了分析。该控制方法以磁流变阻尼器为作动器,采用预瞄技术,以模糊控制为前馈控制,以PID控制为反馈控制,在MATLAB/Simulink中建立控制系统模型,对复杂随机路面输出进行数值仿真,仿真结果表明该复合控制方法具有实时性好、鲁棒性好、控制精度高等优点。与被动悬架相比,采用该智能复合控制方法的半主动悬架系统,其车身垂直振幅、俯仰角以及车体垂直振动加速度均得到了很好的控制,其中,垂直振幅均方根值减小了37.2%,俯仰角均方根值减小了45.2%,垂直振动加速度均方根值减小了38.6%。

For the multiplicity, complexity of the driving traffic and its unique structure, an intelli- gent hybrid control method of tracked vehicle active suspension based on MR damper was proposed. Taking one half of the tracked vehicle suspension system as the research object, the vertical ampli- tude, pitch angle and vertical body acceleration response of the body were analyzed. This control meth- od used the MR damper as an actuator, and a fuzzy control as feed forward and also PID control as feedback based on preview. The control system model was setup in MATLAB/Simulink, using the complex random road output to Simulink,the simulation results show that it has good real--time con- trol ability, good robustness and high accuracy, etc. Contrast to passive suspension, the body vertical amplitude, pitch angle and the body vertical acceleration of the semi--active suspension system using the intelligent hybrid control method are well controlled, among them, the vertical amplitude RMS de- creases by 37.2%, the pitch angle RMS decreases by 45.2% ,the vertical vibration acceleration RMS decreases by 38.6%.