履带式车辆半主动悬挂系统的建模与仿真

在履带式车辆1/2车8自由度平顺性控制建模过程中，利用增广变换的方法消去状态方程中路面高度输入的微分项，建立了半主动悬挂系统的标准状态方程数学模型；通过仿真分析车体质心加速度指标的幅频特性、功率谱密度特性、脉冲响应特性，并与理论计算或实测数据比较，验证了所建模型的正确性；在时域上模拟典型路面激励系统，通过比较被动悬挂与半主动悬挂驾驶员座椅处的加速度响应，验证了模型的可控性。

Modeling and Simulation of Semi-active Suspension Systems of Tracked Vehicle

A half of tracked vehicle semi-active suspension ride model with 8 degrees of freedom was established. In the process of modeling, the augmented conversion is used to delete the road-input differential items in the states space equations in order to develop the standard formulation of the states equations. The model characteristics such as the amplitude-frequency, the power spectral density and the impulse response are not only plotted by simulation but also compared with the data of field testing or theoretical calculations. The modeling of tracked vehicle ride system is proved correct through the above work. The model controllability is verified by comparing the acceleration responses of the driver's seat between passive suspension and semi-active suspension with a given mimic typical road-input in the time domain.