加速度输入的履带车辆悬挂系统LQR控制建模与仿真

建立了以加速度作为路面激励输入信号,且考虑非悬置质量的履带车辆二自由度二分之一车辆力学模型,选定状态变量,推导出悬挂系统状态方程和振动微分方程。基于线性二次型(LQR)最优控制理论的主动控制算法得出最优控制力,依据磁流变阻尼器半主动限界Hrovat控制算法追踪最优控制力,实现悬挂系统磁流变阻尼半主动控制。对典型正弦路面激励下履带车辆悬挂系统的主动、半主动控制效果进行了仿真,并与被动控制效果进行比较。结果表明,建立的力学模型可信,算法能很好控制车体位移和加速度。

Modeling and Simulation of Tracked Vehicle Suspension System Based on Accelerationinput LQR Control Algorithm

Mechanical model with 2DOF of 1/2 vehicle is established under road acceleration actuators and non - suspend molar is considered. The state equation and vibration differential equation of suspension system was deduced through selecting state variable. In the light of LQR optimal algorithm, the optimal control force is computed and approached by magnetorheological - damper semi - active control force computed from Delimitation- Hrovat optimal algorithm. The magnetorheological -damper semi -active control of suspension system was realized. The effects of active or semi - active vibration control with the sinusoidal road actuators were simulated, and compared with the effects based on passive control. The result shows that the mechanical model is reliable and the displacement and acceleration of the track vehicle are reduced greatly.