多作动器协同的特种车辆行车调平控制方法

doi:10.12382/bgxb.2022.0928

摘要/Abstract

摘要：

针对国防军事、应急救援等国计民生重要领域中特种车辆行车调平的需求,基于多智能体一致性协同控制相关理论,提出多作动器协同的行车调平方法。将整车垂向模型分解为由作动器驱动的带有相互耦合特性的多智能体悬架节点,建立悬架节点动力学模型。构建基于悬架动行程的趋势引导动态基准和基准误差,摆脱现有调平方法对车身质心铅垂高的依赖,提出基于动态基准误差的多作动器协同行车调平方法。基于汽车系统仿真软件Carsim验证所提方法的有效性。研究结果表明,与整车型调平方法对比,所提方法更好地实现行车调平,调平精度提高了1到2个数量级;研究结果有助于进一步丰富和完善主动悬架控制技术体系,为解决特种车辆行车调平问题提供了全新思路和具体方法。

关键词: 特种装备车辆, 行车调平, 主动悬架, 多作动器, 协同控制

Abstract:

To meet the requirements of special vehicle driving leveling in the important areas of the national economy and people’s livelihood, such as national defense and emergency rescue, a driving leveling control method with multi-actuator cooperation is proposed based on the theory of multi-agent cooperative consistency control. Firstly, the vertical model of the whole vehicle is decomposed into coupled multi-agent suspension nodes driven by actuators, and the dynamic model of the suspension node is established. Secondly, a trend-guided dynamic reference and reference error based on the suspension working space is constructed to get rid of the dependence of the existing driving leveling control method on the vertical height of the center of mass of the vehicle body. Furthermore, the driving leveling control method with multi-actuator cooperation based on the dynamic reference error is proposed. Finally, the effectiveness of the proposed method is verified with the vehicle system simulation software CarSim. The results show that compared with the whole vehicle leveling algorithm, the proposed algorithm can better achieve driving leveling, and that the leveling accuracy is raised by 1 to 2 orders of magnitude. This study is helpful to further enrich and improve the technology system of the active suspension control system, and provide a completely new idea and specific methodology for solving the driving leveling problem of special vehicles.

Key words: special equipment vehicle, driving leveling, active suspension, multi-actuator, cooperative control

中图分类号:

U461
TP273

张聪, 刘爽, 姜思远, 刘世纪. 多作动器协同的特种车辆行车调平控制方法[J]. 兵工学报, 2023, 44(1): 98-107.

ZHANG Cong, LIU Shuang, JIANG Siyuan, LIU Shiji. Driving Leveling Control Method with Multi-Actuator Cooperation for Special Vehicles[J]. Acta Armamentarii, 2023, 44(1): 98-107.

图/表 10

图1 7自由度整车模型示意图

Fig.1 7-DOF vehicle model

图2 独立驱动的液压主动悬架系统示意图

Fig.2 Independent hydraulic active suspension system

图3 作动器压缩伸展示意图

Fig.3 Actuator compression and extension

图4 路面激励示意图

Fig.4 Concave-convex road excitation

图5 俯仰角和侧倾角

Fig.5 Pitch angle and roll angle

图6 悬架节点铅垂高

Fig.6 Vertical height of suspension node

图7 悬架节点铅锤速度

Fig.7 Vertical velocity of suspension node

图8 作动器行程

Fig.8 Suspension working space

图9 控制力

Fig.9 Control force

图10 俯仰角和侧倾角均方根统计

Fig.10 RMS of pitch angle and roll angle

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