全工况履带车协同天棚控制策略方法研究

Research on Cooperative Sky-hook Control Strategy of Tracked Vehicle under all Working Conditions

针对履带车的振动控制,提出了一种基于协同控制策略的履带车天棚控制模型.首先推导了悬架控制模型,采用谐波叠加法生成了随机路面模型.然后基于6轮履带车半车动力学模型,完成了控制器的实现,并对全工况下履带车的平顺性进行了仿真分析.仿真结果证明,该方法有效缓解了由路面激励引起的履带车辆振动,车辆平顺性指标的最大提升为33.84%.其中,运行速度较快时,平顺性提升效果更加显著.

A Sky-hook control model based on a cooperative control strategy is proposed for the vibration control of tracked vehicles.The suspension control model is first derived,and a random road model is generated using the harmonic superposition method.Then,based on the half-vehicle dynamics model of the 6-wheel tracked vehicle,the controller is realized,and the ride comfort under all operating conditions is analyzed by simulation.The simulation results prove that this method can effectively alleviate the vibration of tracked vehicles caused by road excitations.The maximum improvement of the ride comfort index is 33.84%.This improvement is more significant when the operation speed is faster.