高机动越野平台非线性悬挂特性控制方法  

Nonlinear Suspension Characteristic Control Methods for High-mobility Off-road Vehicles

作　　者：陈轶杰[1,2,3] 张亚峰 郑凤杰[1,2] 徐龙 郑冠慧 CHEN Yijie;ZHANG Yafeng;ZHENG Fengjie;XU Long;ZHENG Guanhui(China North Vehicle Research Institute,Beijing 100072,China;Chinese Scholartree Ridge State Key Laboratory,Beijing 100072,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]中国北方车辆研究所,北京100072 [2]先进越野系统技术全国重点实验室,北京100072 [3]北京理工大学机电学院,北京100081 [4]北京理工大学机械与车辆学院,北京100081

出　　处：《兵工学报》2024年第11期3806-3819,共14页Acta Armamentarii

基　　金：国家自然科学基金重点项目(52332013)。

摘　　要：为了提升装备机动能力,基于摆动缸式油气悬挂装置,建立高压气动原理和背压可控的阻尼阀结构,实现刚度和阻尼特性的实时调节。基于单轮悬挂模型开展不同刚度控制方法的振动响应对比分析以及阻尼特性频域不动点推导,提出一种刚度有级调节控制策略和一种频域混合阻尼控制方法,通过单轮悬挂动力学模型验证所提控制方法的有效性,并构建高机动履带车辆动力学模型进行整车仿真分析。在康庄、羊八井、坨里实测路面环境下,采用刚度阻尼联合控制方法的悬挂装置相较于传统被动悬挂的越野速度提升了25%以上,验证了新提出特性控制方法对振动响应抑制的优越性,能够为悬挂装置实现弹性与阻尼双特性自适应调节提供支撑。To improve the mobility performance of off-road vehicles,this paper proposes a swing-cylinder hydro-pneumatic suspension system,which utilizes a high-pressure pneumatic principle and a back-pressure adjustable damping valve structure for the real-time adjustment of stiffness and damping characteristics.The vibration responses achieved by different stiffness control methods are comparatively analyzed using a single-wheel suspension model,and the fixed-point equations are derived for frequency-domain damping properties.A graded stiffness adjustment strategy and a frequency-domain hybrid damping control method are proposed.The effectiveness of the proposed method is verified through a single-wheel suspension dynamics model,and a high-mobility tracked vehicle dynamics model is established for the simulation analysis of a full-vehicle.The results show that the driving speed of off-road vehicle with the suspension employing the combined stiffness and damping control is increased by more than 25%compared with that of off-road vehicle with the traditional passive suspension under the actual road conditions of Kangzhuang,Yangbajing and Tuoli.These findings demonstrate the superior vibration suppression capabilities of the proposed control method,supporting the adaptive regulation of stiffness and damping characteristics of suspension system.

关 键 词：高机动越野平台 非线性悬挂 示功特性 频域混合控制 弹性/阻尼特性调节 

分 类 号：U463.33[机械工程—车辆工程]