履带车辆单自由度LQR与模糊控制对比研究

履带车辆工作环境恶劣，结构复杂，建立符合实际的模型有一定的难度。为了解决模型不精确的问题，使用模糊控制的办法来对车辆的振动进行抑制。文中通过阶跃响应分析，当调整因子取0时，所得到的模糊控制规则的控制效果最好。并在地面的随机激励下进行了无控、LQR主动控制和模糊控制的对比分析，仿真结果表明，模糊控制算法体现了良好的控制效果。其中，在相同的最大出力的情况下，模糊控制比LQR最优控制效果更好，模糊控制的加速度减少到无控状态的1/8左右，速度减少到无控的1/4，位移减少到无控状态下的7/10；在位移和速度反应上，模糊控制与LQR控制性能相当，但在加速度方面，模糊控制效果是LQR控制的1.8倍。

Comparison of Fuzzy Control and LQR Control Based on Single Degree-of-Freedom Tracked Vehicles

It was not easy to establish a proper model for tracked vehicle which works in the difficult environment and has complex structure. In order to solve this imprecision of model, there was a good approach of fuzzy control to restrain the vibration of vehicle. According to step response analysis, when adjusting factor equaled to zero, the control effect with the acquired fuzzy rule was best. Under the random excitation of the off-road, no control, LQR and fuzzy control were contrasted. The simulation result indicated, fuzzy control showed better control effect. Under the same maximum force of the actuator, fuzzy control showed better control effect than LQR control, the acceleration of the fuzzy control was reduced to 1/8 of no control, the velocity was reduced to 1/4, and the displace was reduced to 7/10. In the terms of displace and velocity, fuzzy control was nearly comparative to LQR control, however, the control effect of the acceleration under fuzzy control was 1.8 higher than that of LQR.