基于分层控制的大功率拖拉机前桥悬架减振系统研究  

Design and Experiment of Vibration System for Front Axle Suspension of High-power Wheeled Tractor Based on Hierarchical Control

作　　者：毛恩荣[1,2] 齐道新 顾进恒 杜岳峰[1,2] 顾展布 罗振豪 MAO Enrong;QI Daoxin;GU Jinheng;DU Yuefeng;GU Zhanbu;LUO Zhenhao(College of Engineering,China Agricultural University,Beijing 100083,China;Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]中国农业大学现代农业装备优化设计北京市重点实验室,北京100083

出　　处：《农业机械学报》2022年第7期404-413,共10页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2017YFD0700101)。

摘　　要：大功率轮式拖拉机质量大、车身重心高,在高速运输作业时受路面不平度影响,易产生剧烈的颠簸振动,直接影响拖拉机操纵稳定性和行驶平顺性,甚至危及行驶安全。基于此,综合考虑大功率轮式拖拉机车身振动加速度与悬架动挠度的变化及悬架系统充放油过程中的非线性控制等问题,提出了适用于大功率轮式拖拉机前桥悬架减振系统的设计与控制方案。首先,设计了前桥悬架减振系统,建立了带前桥悬架的1/4拖拉机振动模型;其次,在充分考虑前桥悬架控制系统特点的基础上,建立了基于参考天棚地棚模型的分层控制算法,构建了Matlab/Simulink仿真模型,并与常规PID算法对比分析,结果表明分层算法的控制性能优于常规PID控制;最后,搭建了前桥悬架系统硬件在环仿真平台和室内试验平台,开展了悬架减振控制策略和控制效果的试验验证。试验结果表明,基于参考天棚地棚模型的分层控制算法能快速调整控制参数,所设计悬架系统的车身振动加速度均方根降低至2.36 m/s^(2)左右,较被动悬架下降55.8%,同时悬架动挠度的均方根被限定在较小范围内,明显优于被动悬架系统,满足大功率轮式拖拉机前桥悬架的减振需求,且试验结果与仿真结果能较好地匹配,验证了减振方案的有效性。该研究可为大功率轮式拖拉机前桥主动悬架系统的研发提供理论参考。Owing to high center of mass and heavy tractor body,the high-power wheeled tractor has a tendency to bump when it drives on the bumpy farmland during high-speed transportation.Especially the frequency of the excitation from ground is approximately the inherent frequency of the front axle suspension,which will result in handling stability and ride comfort or even endangering security of its driving.Based on it,through comprehensively considering the simulations control of body vibration acceleration and displacement of suspension and the nonlinear control of suspension system in the process of filling a discharging oil,a damping scheme for front axle suspension of high-power wheeled tractor was put forward.Firstly,the front axle suspension damping system was designed,and a 1/4 tractor vibration model with front axle suspension was established.Secondly,based on the control characteristics of the front axle suspension,a hierarchical control algorithm based on the reference sky-hook and ground-hook model for active suspension system was proposed.The simulation model was constructed by using Matlab/Simulink and compared with the conventional PID algorithm.The simulation results indicated that the hierarchical algorithm was better than the PID control.Finally,the HILS platform of the control system and the indoor test platform of the front axle suspension system were built,at the same time,the suspension vibration control strategy gest verification was carried out.The test results showed that the hierarchical control algorithm based on the reference sky-hook and ground-hook model can quickly adjust the control parameters,the root mean square of the body vibration acceleration of the designed suspension system was reduced to about 2.36 m/s^(2),which was 55.8%lower than that of the passive suspension.At the same time,the root mean square of the suspension dynamic deflection was limited to a small range,which was obviously better than passive suspension system,and met the vibration reduction requirements of the front axle

关 键 词：大功率轮式拖拉机 前桥悬架 分层控制策略 混合滑模控制 硬件在环仿真 

分 类 号：U463.33[机械工程—车辆工程] S219[交通运输工程—载运工具运用工程]