基于ISD模型的车载减振平台主动控制研究

Research on vehicle vibration damping platform active control based on ISD model

在复杂路况上行驶的救护车,车上的病人会受到多个方向的振动激励,且在竖直方向主要受到低频大振幅的振动。针对以上问题,提出采用Stewart减振平台实现对六个自由度振动的衰减,并借鉴惯容器-弹簧-阻尼(ISD)模型中的惯容器具有通高频、阻低频,以及弹簧具有通低频,阻高频的隔振特性,来改进一种主动反向加速度补偿算法,可实现对平台各方向进行可持续低频大振幅减振。同时系统以回中位能力和减振能力为指标,采用粒子群算法对控制系统参数进行优化。最后利用SimMechanics模块搭建Stewart平台进行实际工况模拟仿真。实验结果表明,车载减振平台针对低频大振幅激励具有良好的减振能力,并且相比传统的SD模型算法,改进后的基于ISD模型算法的减振能力提高了12.4%。

In the ambulance driving on complex road conditions,the patients on board will be stimulated by vibration in multiple directions,and the vertical direction is mainly affected by the vibration of low frequency and large amplitude.To solve the above problems,a Stewart vibration damping platform is proposed to attenuate the vibration of six degrees of freedom.An active reverse acceleration compensation algorithm is improved by referring to the isolation-characteristic of the inertial containerspring-damping(ISD) model,which has the characteristics of pass high frequency,resist low frequency and pass low frequency,resist high frequency,which can realize the sustainable low frequency and large amplitude vibration reduction in all directions of the platform.By taking the ability to return to the center position and reduce vibration as indicators,the control system parameters are optimized by means of particle swarm optimization(PSO).Stewart platform was built with SimMechanics module to simulate the actual working conditions.The experimental results show that the vehicle vibration damping platform has a good vibration damping ability for low frequency and large amplitude excitation.The improved ISD model algorithm has a 12.4% increase in vibration damping ability compared with the traditional SD model algorithm.