Abstract：Aiming at the driving leveling problem of special equipment vehicles, a dynamic reference-based low complexity control method is proposed. Firstly, the whole vehicle is decomposed into coupled suspension nodes driven by actuators. The dynamic model of the suspension node is established. And the hybrid control problem of position and attitude based on the vehicle vertical dynamics model is transformed into a simple displacement control problem based on the fully actuated node dynamics model. Secondly, the dynamic reference and its error are proposed and constructed. Then the technical bottleneck is solved which the existing method relies on and restricts the vehicle body’s vertical height, meanwhile, the passing ability of the vehicle is improved. Finally, the effectiveness of the proposed method is verified by the vehicle system simulation software Carsim. The results show that, compared with the classical constant-reference-based control method of the whole vehicle, the driving leveling accuracy is promoted by 1 order of magnitude under the effect of the proposed method; Especially when the road excitation amplitude exceeds the designed dynamic deflection of the actuator, the comfort and safety of the vehicle are both improved particularly.
张聪1,2，刘爽1,2，赵丁选3，姜思远1，刘世纪1. 基于动态基准的低复杂度特种车辆行驶调平控制方法[J]. 振动与冲击, 2024, 43(3): 276-286.
ZHANG Cong1,2, LIU Shuang1,2, ZHAO Dingxuan3, JIANG Siyuan1, LIU Shiji1. Low complexity special vehicle driving leveling control method based on dynamic reference. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(3): 276-286.
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