摘要
应急救援车辆载重量大、行驶路面复杂,电液主动悬架输出力的响应和控制精度对衰减振动至关重要。建立了电液主动悬架单元数学模型,给出了系统的轨迹灵敏度方程,并得到力阶跃响应对应各主要参数的灵敏度,为悬架性能优化提供理论依据;针对电液主动悬架负载质量大的特点,结合灵敏度分析结果,设计模型参考自适应控制器。最后,通过实验对自适应控制效果进行验证,结果表明所提出的控制方法可有效提高电液主动悬架单元的跟踪性能和对输出力的控制精度,助力整车主动悬架系统实现各种先进控制算法。
Emergency rescue vehicles carried heavy loads and travel on complex roads and the response and control accuracy of output forces of electro-hydraulic active suspensions were very important to attenuate vibrations.Firstly,the mathematical model of electro-hydraulic active suspension system was established.Secondly,the trajectory sensitivity equation of the system was established to give the sensitivity of the main parameters with the force step response,so as to provide a theoretical basis for the performance optimization.Thirdly,considering the large load characteristics of electro-hydraulic active suspensions and the sensitivity analysis results,a reference model adaptive controller was designed.Finally,the adaptive control effectiveness was verified by experiments.The results show that the proposed control method effectively improves the tracking performance and the force control accuracy of the electro-hydraulic active suspension actuator units.It will help the vehicle active suspension system to realize various advanced control algorithms.
作者
陈浩
巩明德
赵丁选
张伟
张悦
郝春友
CHEN Hao;GONG Mingde;ZHAO Dingxuan;ZHANG Wei;ZHANG Yue;HAO Chunyou(School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei,066004;Key Laboratory of Special Carrier Equipment of Hebei Province,Qinhuangdao,Hebei,066004)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2023年第4期481-489,共9页
China Mechanical Engineering
基金
国家自然科学基金(52175063,52101375)
国家自然科学基金区域创新发展联合基金(U20A20332)。
关键词
应急救援车
主动悬架
电液伺服系统
灵敏度分析
自适应控制
emergency rescue vehicle
active suspension
electro hydraulic servo system
sensitivity analysis
adaptive control
