基于动态基准的低复杂度特种车辆行驶调平控制方法  

Low complexity special vehicle driving leveling control method based on dynamic reference

作　　者：张聪 刘爽[1,2] 赵丁选[3] 姜思远 刘世纪 ZHANG Cong;LIU Shuang;ZHAO Dingxuan;JIANG Siyuan;LIU Shiji(School of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China;Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]燕山大学河北省工业计算机控制工程重点实验室,河北秦皇岛066004 [3]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《振动与冲击》2024年第3期276-286,共11页Journal of Vibration and Shock

基　　金：国家自然科学基金重点项目(U20A20332);河北省自然科学基金(A2022203024);中央引导地方科技发展资金项目(基础研究项目)(216Z1902G);省级重点实验室绩效补助经费项目(22567612H)。

摘　　要：针对特种车辆行驶调平问题,提出基于动态基准的低复杂度控制方法。整车被分解为由作动器驱动的带有相互耦合特性的悬架节点。建立悬架节点动力学模型,将基于整车行驶动力学模型的位姿混合控制问题,转换为基于全驱型悬架节点动力学模型的单纯位移控制问题。提出并构建动态基准和基准误差,解决现有方法对车身铅垂高依赖和限制的技术瓶颈,同时提高车辆的通过性能。建立基于基准误差的扩张状态观测器,实现动态解耦,并提出一种低复杂度行驶调平控制方法。借助汽车系统仿真软件Carsim验证该方法的有效性。结果表明:与经典基于常值基准的整车型控制方法对比,在所提出方法作用下,车辆的行驶调平精度提高了一个数量级;特别是在路面激励幅度超过作动器行程的工况下,车辆的舒适性和安全性尤为改善。Here,aiming at the leveling problem of special equipment vehicle driving,the low complexity control method based on dynamic reference was proposed.The entire vehicle was decomposed into mutually coupled suspension nodes driven by actuators to establish suspension nodes’dynamic model,and the posture hybrid control problem based on the whole vehicle driving dynamic model was converted into a simple displacement control problem based on the all-wheel drive type suspension nodes’dynamic model.Dynamic reference and benchmark error were proposed and constructed to solve technical bottleneck problems of existing methods depending heavily on and limiting vehicle body verticality,and meanwhile vehicle passing performance could be improved.An extended state observer was built based on benchmark error to realize dynamic decoupling,and a low complexity driving leveling control method was proposed.The effectiveness of the proposed method was verified using the automotive system simulation software Carsim.The results showed that compared with the classic whole vehicle type control method based on constant value benchmark,the proposed method can improve the vehicle driving leveling accuracy by one order of magnitude;especially,when the road surface excitation amplitude exceeds actuator stroke,vehicle comfort and safety can particularly be improved after using the proposed method.

关 键 词：特种装备车辆 主动悬架 行驶调平 动态基准 低复杂度 扩张状态观测器 

分 类 号：U461[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]