某履带车辆半主动悬挂系统建模与仿真

在一系列简化条件基础上,建立了履带车辆悬挂系统二自由度振动模型,选定状态变量,推导出悬挂系统状态方程矩阵表达形式．提出了基于线性二次型(LQR)最优控制理论的半主动控制算法．对耕地路面激励下履带车辆悬挂系统的半主动控制进行了仿真,并与被动悬挂结果进行比较．结果表明,该算法能很好控制车体位移和加速度．

Modeling and Simulation of Semi-Active Suspension System of The Tracked Vehicle

On the base of a series of simple conditions, a uibration model with 2D of freedom of vehicle was established. The state equation of suspension system was educed through selected state variables. In the light of LQR optimal algorithm, a semi-active control strategy was applied. The effects of the vibration control with the infield road excitation were simulated, and compared with the effects resulted from passive control. The Simulation results show that displacement and acceleration of the track vehicle are reduced greatly.