履带底盘半主动悬架线性二次型最优控制  

Linear Quadratic RegulatorAlgorithm for Tracked Vehicle Semi-Active Suspension

作　　者：黄莹 赵建柱[1] 彭朝晖 马晨旭 王志策 黄韶炯[1] HUANG Ying;ZHAO Jian-zhu;PENG Zhao-hui;MA Chen-xu;WANG Zhi-ce;HUANG Shao-jiong(College of Engineering,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083

出　　处：《北京理工大学学报》2018年第A01期98-102,共5页Transactions of Beijing Institute of Technology

基　　金：国家“十三五”项目(SQ2016YFNC040025)

摘　　要：为了充分发挥半主动悬架性能,改善履带底盘的平顺性,研究了一种履带底盘半主动悬架线性二次型最优控制算法.在建立履带底盘半车七自由度动力学模型的基础上,设计线性二次型最优控制算法,并以E级随机路面不平度为激励信号,进行被动悬架、天棚地棚混合控制策略和线性二次型最优控制策略的对比仿真试验,得到不同控制策略下的时域响应和频域响应特性.试验结果表明,采用线性二次型最优控制算法可使履带底盘加速度、速度和支重轮变形量均有不同程度的减小,有效地改善履带底盘的平顺性,并可以满足减震器可靠性要求和支重轮贴地性要求.In order to get better performance of semi-active suspension and ride comfort of tracked vehicle,Linear Quadratic Regulator(LQR)algorithm for semi-active suspension was studied.Firstly,based on the half vehicle dynamics model with seven degrees of freedom,a Linear Quadratic Regulator algorithm was designed for tracked chassis.And then,taking random road roughness as the excitant,simulation experiments of passive suspension and semi-active suspension under the control of SGHH and LQR were carried out to get the time responses and the frequency responses in different control strategies.The comparison experiment results show that,Linear Quadratic Regulator algorithm can not only reduce the acceleration,speed and deformation of weight bearing wheels to different degrees but improve ride comfort,satisfy the need of stability of shock absorber and weight bearing wheels adhesion performance of tracked chassis.

关 键 词：履带底盘 动力学模型 半主动悬架 线性二次型最优控制(LQR) 

分 类 号：U461.4[机械工程—车辆工程]