履带式车辆半主动悬挂的自适应控制

根据军用履带式车辆对悬挂系统的要求,对半主动悬挂1/4车模型进行了理论分析,在此基行础上对控制模型在有限带宽内进行了降阶简化.以振动加速度和悬架变形的加权二次型最小为控制性能指标,进行了线性高斯二次控制器(LQG)的设计,并以此作为模型参考自适应控制系统的参考模型.运用李雅谱诺夫稳定性理论设计了直接模型参考自适应控制系统(MRAC).仿真研究表明,MRAC能够适应悬架系统参数的变化,跟踪LQG控制的最优性能,该系统对路面变化和悬架系统参数变化均具有良好的自适应性和鲁棒性.

ADAPTIVE CONTROL FOR SEMI-ACTIVE SUSPENSION TRACKED VEHICLE

A reduced order model of a quarter vehicle with semi active suspension is presented, based on an analysis according to the special requirements for suspension in military tracked vehicles. Weighted quadratic performance index related to vertical accerelation and suspension travel is used to design the linear quadratic Gaussian (LQG) controller. The LQG control system is then employed as the reference model of a model reference adaptive control(MRAC) system, and the Lyapunov stability theory is used in the design of the MRAC. Simulation results indicate that the MRAC can adapt to the variation of suspension parameters and keep the optimality. The proposed system can adapt to the road condintions and variation of suspension parameters.