履带车辆主动悬挂自校正控制研究

主动悬挂系统能使车辆的乘坐舒适性和机动性同时得到改善,其中执行机构和控制算法的优劣决定了主动悬挂系统的性能.履带车辆悬挂系统具有参数时变性,要使其在各种状态下都具有良好的减振效果,有必要使相应的控制系统具有变参数自适应功能.为此,该文运用衰减记忆递推最小二乘参数估计算法和广义加权最小方差自校正控制算法对系统进行控制,并利用压力伺服阀控制的液压缸作为执行器.理论分析和仿真结果表明,该文提出的控制系统是可行的,这种自适应自校正算法对系统中一些时变参数具有良好的适应性.

Self-correcting Control of Hydraulic Active Suspension

The ride quality and maneuverability of the tracked vehicle can be enhanced simultaneously by an active suspension system,dynamic performance of which depends heavily on its hydraulic actuator and control algorithm.It is necessary and significant for the relevant control system to possess of adaptability to achieve fairly good vibration isolating effectiveness in various working condition of the suspension which is a typical time-varying system.In this paper,algorithms of parameter estimation of memory attenuation,recursion and least-sguare and self-correcting control of generalized proportion and least root mean square are applied and hydraulic cylinder controlled by pressure servo valve is used as the force generator.Theoretical and numerical simulation results show the adaptive control scheme is applicable due to its good adaptability for automotive suspension with a number of time-varying parameters.