工程车辆座椅悬架多维振动控制研究

Multi-dimensional vibration control of engineering vehicle seat suspension

非道路车辆悬架对于来自非铺装路面的冲击振动衰减有限,且部分工程车辆考虑到实际需要,甚至未加装车辆悬架,因此对于特种车辆座椅悬架的减振研究尤为必要。为此,选用经典Tricept并联机构作为座椅悬架主体,该机构具有3个自由度,可实现多维振动的有效衰减。首先在ADAMS中搭建并联机构模型,然后设计与该机构相适应的模糊比例积分微分(proportion-integration-differentiation,PID)主动控制和模糊PID-天棚半主动控制,分别进行ADAMS与MATLAB联合仿真。结果显示,并联机构Tricept的座椅悬架系统可以实现多维协同减振,沿垂向、俯仰、侧倾3个方向的(角)加速度依次衰减了18.58%、42.68%、42.5%;与主动控制结合后,各方向的振动(角)加速度分别降低了37.26%、53.38%、49.36%;与半主动控制结合后,各方向的振动(角)加速度分别降低了43.54%、53.38%、52.47%。

Non-road vehicle suspension has limited attenuation of impact vibration from non-paved road surfaces,and some engineering vehicles have not even been equipped with suspensions due to actual needs.Therefore,it is particularly necessary to study the vibration attenuation of special vehicle seat suspensions.The classic Tricept parallel mechanism is selected as the seat suspension main part,which has three freedom degrees to achieve effective multi-dimensional vibration attenuation.Firstly,the parallel mechanism model is built in ADAMS.Then,the fuzzy proportion-integration-differentiation(PID)active control and fuzzy PID-skyhook semi-active control,which are suitable for the mechanism,are designed,and ADAMS and MATLAB cosimulations are carried out respectively.The results show the Tricept parallel mechanism seat suspension system can achieve multi-dimensional coordinated vibration reduction.The(angular)accelerations along the vertical,pitch and roll directions are attenuated by 18.58%,42.68%and 42.5%,respectively.After the seat suspension system is combined with active control,its vibration(angular)acceleration in each direction is reduced by 37.26%,53.38%and 49.36%,respectively.After the seat suspension system is combined with semi-active control,its vibration(angular)acceleration in each direction is reduced by 43.54%,53.38%and 52.47%,respectively.