摘要
基于某矿用自卸车,建立了非线性半主动油气悬架三轴9自由度整车模型,以天棚控制算法和模糊控制算法为基础,设计了车身姿态补偿控制策略,对半主动油气悬架的阻尼力进行控制。在Matlab/Simulink中对控制策略的效果进行仿真验证。仿真结果表明:当车辆在D级路面以36 km/h的速度行驶时,相比于传统被动油气悬架,所设计的车身姿态补偿控制策略使车身垂向加速度优化了22. 89%,俯仰角加速度优化了20. 46%,侧倾角加速度优化了18. 87%,车身俯仰角优化了19. 61%,车身侧倾角优化了15. 66%,达到了较好的车身姿态控制效果。硬件在环仿真试验结果与Simulink仿真结果一致,验证了车身姿态补偿控制策略的实际可行性。
Based on a mining dump truck, a three-axis nine degree-of-freedom vehicle model equipped with nonlinear semi-active hydro-pneumatic suspension was established. An attitude compensation control strategy was designed based on skyhook control algorithm and fuzzy control algorithm to control the damping force of semi-active hydro-pneumatic suspensions of the vehicle. The effect of the control strategy was verified in Matlab/Simulink. The simulation results indicated that,when the vehicle is driving at a speed of 36 km/h on the D-level road,compared with the traditional passive hydro-pneumatic suspension,the body vertical acceleration,the body pitch acceleration,the body roll acceleration,the pitch angle and the roll angle were reduced by 22. 89%,20. 46%,18. 87%,19. 61%,15. 66%,respectively,by the body attitude compensation control strategy designed in this paper,which showed better body attitude control effect. The hardware-in-the-loop simulation test results were consistent with the Simulink simulation results,which verified the practical feasibility of the vehicle attitude compensation control strategy.
作者
刘涛
LIU Tao(School of Automotive and Traffic Engineering,Jiang Su University,Zhenjiang 212013,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2020年第7期63-74,共12页
Journal of Chongqing University of Technology：Natural Science
基金
江苏省重点研发计划项目(BE2016147)。
关键词
半主动
油气悬架
整车模型
车身姿态
硬件在环
semi-active
hydro-pneumatic suspension
full-car model
body attitude
HILS
