履带车半主动悬架的复合控制策略研究

中国机械工程 ›› 2013, Vol. 24 ›› Issue (08): 1090-1096.

履带车半主动悬架的复合控制策略研究

曾谊晖1,2;周育才2;刘道才1;左青松3

1.安徽文达信息工程学院,合肥,231201
2.中南大学,长沙,410083
3.湖南大学,长沙,410082

出版日期:2013-04-25 发布日期:2013-05-08
基金资助:
湖南省科技计划资助项目(2010GK-3091);湖南省自然科学基金资助项目(11JJ3059);湖南省教育厅优秀青年基金资助项目(10B58);国家自然科学基金资助项目(51105386)
Hunan Provincial Science and Technology program ( No. 2010GK-3091);

Hunan Provincial Natural Science Foundation of China（No. 11JJ3059）;
National Natural Science Foundation of China（No. 51105386）

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

Zeng Yihui1,2;Zhou Yucai2;Liu Daocai1;Zuo Qingsong3

1.Anhui Wonder University of Information Engineering,Hefei,231201
2.Central South University,Changsha,410083
3.Hunan University,Changsha,410082

Online:2013-04-25 Published:2013-05-08
Supported by:

Hunan Provincial Science and Technology program ( No. 2010GK-3091);

Hunan Provincial Natural Science Foundation of China（No. 11JJ3059）;
National Natural Science Foundation of China（No. 51105386）

摘要/Abstract

摘要：

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%。

关键词: 履带车辆;磁流变阻尼器;半主动悬架;预瞄技术;模糊控制, PID控制

Abstract:

For the multiplicity,complexity of the driving traffic and its unique structure,an intelligent 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 amplitude,pitch angle and vertical body acceleration response of the body were analyzed.This control method 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 control 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 decreases by 37.2%, the pitch angle RMS decreases by 45.2%,the vertical vibration acceleration RMS decreases by 38.6%.

Key words: tracked vehicle, magneto-rheological(MR) damper, semi-active suspension, preview technology, fuzzy logic control, PID control

中图分类号:

TD424

曾谊晖1, 2, 周育才2, 刘道才1, 左青松3. 履带车半主动悬架的复合控制策略研究[J]. 中国机械工程, 2013, 24(08): 1090-1096.

CENG Yi-Hui-1, 2, ZHOU Yo-Cai-2, LIU Dao-Cai-1, ZUO Jing-Song-3. Study on Complex Control Strategy for Semi-active Suspension of Tracked Vehicles[J]. China Mechanical Engineering, 2013, 24(08): 1090-1096.

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