工程车辆3-RPS座椅悬架半主动滑模控制  

Semi-active Sliding Mode Control of 3-RPS Seat Suspensions used in Construction Vehicles

作　　者：樊书伟 燕碧娟[1] 叶伟 张文军[1] FAN Shuwei;YAN Bijuan;YE Wei;ZHANG Wenjun(Mechanical Engineering College,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《噪声与振动控制》2024年第3期158-164,共7页Noise and Vibration Control

基　　金：国家自然科学基金资助项目(52272401);山西省重点研发计划资助项目(202102010101010)。

摘　　要：工程车辆处于恶劣的工作环境中,垂向单维度的被动减振无法满足实际需求。为解决该问题,依据可实现三维减振的3-RPS并联机构座椅悬架,提出一种新型三维控制策略。基于“座椅-人体”三维振动数学模型,设计一种新的三维天棚控制模型,作为滑模控制的参考对象。设计滑模控制器,并根据Lyapunov稳定判据,对控制系统的稳定性进行分析判断。利用Simulink软件建立座椅-人体受振模型,对处于E、F、G级3种路面环境中,分别采用滑模控制以及被动控制模式的座椅的减振效果进行仿真对比分析。结果表明,相较于被动控制的座椅悬架,采用三维滑模控制的座椅悬架在垂直方向上的加速度下降率在38.88%至57.06%之间;俯仰方向上的角加速度的下降率在36.00%至54.89%之间;侧倾方向上的角加速度的下降率在49.58%至59.97%之间。且可有效降低垂直方向上的加速度峰值,对于冲击载荷减振性能良好。研究成果可为半主动多维减振座椅悬架控制策略的研究提供一定参考。The engineering vehicles are always working in adverse environments,and the passive vibration reduction in the vertical dimension cannot meet the actual demand.In order to solve this problem,a novel 3D control strategy is proposed according to the 3-RPS parallel mechanism seat suspension which can realize 3D vibration reduction.A new 3D ceiling control model based on the 3D vibration mechanism model is designed as a reference object for sliding mode control.The sliding mode controller is designed to analyze and judge the stability of the control system according to the Lyapunov stability criterion.The seat-human vibration model is established by using Simulink,and the vibration reduction effects of the seat using sliding mode control and passive control mode in the road environment of E,F and G levels are respectively analyzed.The results show that compared with the passive seat suspension,the reduction rate of acceleration in vertical direction is between 38.88%and 57.06%,and the reduction rate of angular acceleration in pitch direction is between 36.00%and 54.89%.At the same time,the angular acceleration reduction rate in the rolling direction is between 49.58%and 59.97%.This method can effectively reduce the peak acceleration in the vertical direction,and has a good vibration damping performance for the shock load.The study may provide a reference for the study of semi-active multi-dimensional vibration control of seat suspensions.

关 键 词：振动与波 工程车辆 3-RPS并联机构 三维天棚控制 滑模控制 

分 类 号：TB535[理学—物理]