履带车辆悬挂系统振动的半主动控制与仿真

恶劣路面上行驶的履带车辆的振动对车辆的性能、平顺性、操作稳定性及运动安全性都造成不同程度的消极影响。履带车辆悬挂系统振动的加速度是描述履带车辆振动程度的一个重要指标。首先提出了一个考虑负重轮的履带车辆悬挂系统的力学模型，并且建立了相应的运动微分方程组。又选取了一组新的描述悬挂系统运动的输出变量，然后应用二次型半主动最优控制理论，具体计算了正弦路面激励下悬挂系统在控制前后运动状态的改变。参数分析和数值仿真结果表明，通过选取合适的控制参数，就能使履带车辆悬挂系统的加速度得到有效的控制。

Semi-active Control and Simulation of Suspension Systems for Tracked Vehicles

A semi-active control of vehicle suspension systems was presented. The vibration of tracked vehicles running on a rough road surface has a bad effect on performance, smoothriding, operation stability and motion safety of vehicles. The acceleration of suspension systems of tracked vehicles is a vital parameter describing the degree of vibration of tracked vehicles. A mechanical model and the corresponding differential equations of motion which consider the mass of wheels were established. And a group of new output variables describing the motions of suspension systems of tracked vehicles was proposed. Then by applying semi-active quadric form of optimizing control theory, the differences of motion states of suspension systems were calculated before and after control under sine road excitation. Parameter analysis and numerical simulation show that the acceleration of suspension systems of tracked vehicles can be well controlled by selecting the suitable controlling parameters.