履带车辆电磁主动悬挂LQR控制研究

岳杰; 张进秋; 彭志召; 张磊; 彭颜铭

doi:10.13433/j.cnki.1003-8728.2014.1230

履带车辆电磁主动悬挂LQR控制研究

doi: 10.13433/j.cnki.1003-8728.2014.1230

1.
装甲兵工程学院, 北京 100072

详细信息

作者简介:
岳杰(1985- ),博士研究生,研究方向为车辆工程和车辆振动控制,vuetank@163.com。

通讯作者:
张进秋,教授,博士,博士生导师,zhangjq63@163.com。

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- 被引次数: 0
出版历程
- 收稿日期: 2013-04-05
- 刊出日期: 2014-12-05

A Study on LQR Control for Tracked Vehicle Electromagnetic Active Suspension

1.
Academy of Armored Forces Engineering;

摘要

摘要: 针对军用履带车辆悬挂系统对车辆行驶中的振动控制需求,采用了磁流变阻尼器与电磁作动器相复合的方式,引入履带车辆电磁主动悬挂,建立了悬挂动力学模型.采用滤波白噪声方法生成路面随机输入激励,并导出了悬挂系统状态方程,进而设计和仿真分析了LQR最优主动控制算法.研究结果表明,采用该控制方法对于提高履带车辆行驶的安全性和乘坐舒适性是可行的.在某型履带车辆上,当负重轮相对动载荷均方根值仅增加2.82%和悬挂动行程小于三分之一最大行程时,车体加速度均方根值能降低40.74%.
- 振动 /
- 最优控制 /
- 变阻尼 /
- 履带车辆 /
- 电磁悬挂 /
- 主动控制 /
- LQR算法
Abstract: According to the requirements of vibration control for military tracked vehicle suspension,a hybrid active suspension for tracked vehicle,which is composed of an electromagnetic actuator and a magnetorheological damper,is introduced,and the suspension dynamic model is established. The equation of state of the suspension system is deduced and the random road roughness excitation is generated using the filtered white noise method. Then the LQR optimal control algorithm is designed and the vibration control is simulated. The results show that it is feasible to improves the tracked vehicle driving safety and ride comfort by this control approach. In a certain type of tracked vehicle,when the root mean square(RMS) value of the relative dynamic load between the wheel and the vehicle body is increased by only 2.82% and suspension dynamic travel is less than one-third of the maximum stroke,the acceleration RMS value of the vehicle body can be reduced to 40.74%.
- acceleration /
- active control /
- actuators /
- algorithms /
- closed loop systems /
- computer simulation /
- control

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参考文献(9)

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