装甲车辆座椅半主动悬架模糊PID控制策略研究  

Study on seat semi-active suspension control of armored vehicle with fuzzy PID control strategy

作　　者：向家佑 戴巨川[1] 陈盛钊 陈哲吾 XIANG Jiayou;DAI Juchuan;CHEN Shengzhao;CHEN Zhewu(School of Mechanical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学机电工程学院,湖南湘潭411201

出　　处：《兵器装备工程学报》2024年第12期68-76,共9页Journal of Ordnance Equipment Engineering

基　　金：中央军委基础加强计划技术领域基金项目;国家国防科技工业局基础科研项目;湖南省科技创新计划(2021RC4038)。

摘　　要：装甲车辆行驶路况通常较差,严重影响驾乘人员乘坐舒适性。以某装甲车辆为研究对象,建立“装甲车辆-座椅-人体”13自由度整体动力学模型,并结合商业软件RecurDyn,对所建立动力学模型开展仿真验证。以提升驾乘人员乘坐舒适性为目标,设计模糊PID控制策略获取座椅半主动悬架期望输出载荷,利用BP神经网络训练逆向模型,将该期望载荷转化为座椅半主动悬架中磁流变减振器控制电流,实现半主动悬架控制载荷调节,从而提升驾乘人员乘坐舒适性。选取正弦路面与随机路面开展仿真分析,结果表明:在正弦路面工况下,频率为4.0、5.0、6.3、8.0 Hz时,盆骨加速度响应幅值分别降低20.83%、18.12%、18.46%与19.40%。在E级随机路面工况下,半主动悬架使座椅与盆骨加速度均方根值分别降低19.15%与18.00%。在F级随机路面工况下,半主动悬架使座椅与盆骨加速度均方根值分别降低19.35%与18.37%。因此,所设计的模糊PID控制策略座椅半主动悬架能有效改善驾乘人员乘坐舒适性。Armored vehicle typically always experience poor road conditions,which seriously affect the comfort of passengers and drivers.This article takes an armored vehicle as the research object,establishes a 13 degree of freedom overall dynamic model of armored vehicle seat human body,and uses commercial software RecurDyn to simulate and verify the established dynamic model.With the goal of improving the ride comfort of drivers and passengers,a fuzzy PID control strategy is designed to obtain the expected output load of the seat semi-active suspension.The reverse model is trained using a BP neural network to convert the expected load into the control current of the magnetorheological damper in the seat semi-active suspension,achieving load adjustment of the semi-active suspension control,thereby improving the ride comfort of drivers and passengers.Simulation analysis was conducted on sinusoidal and random road surfaces,and the results showed that under sinusoidal road conditions,the pelvis acceleration response amplitudes decreased by 20.83%,18.12%,18.46%,and 19.40%at frequency of 4.0,5.0,6.3,8.0 Hz,respectively.Under E-level random road conditions,semi-active suspension reduces the root mean square values of seat and pelvis acceleration by 19.15%and 18.00%,Under F-level random road conditions,semi-active suspension reduces the root mean square values of seat and pelvis acceleration by 19.35%and 18.37%,respectively.Therefore,the designed fuzzy PID control strategy for seat semi-active suspension can effectively improve the comfort of drivers and passengers.

关 键 词：装甲车辆 半主动悬架 模糊PID控制 逆向模型 乘坐舒适性 

分 类 号：TJ81[兵器科学与技术—武器系统与运用工程]