针对特种车辆行驶调平问题，提出基于动态基准的低复杂度控制方法。整车被分解为由作动器驱动的带有相互耦合特性的悬架节点。建立悬架节点动力学模型，将基于整车行驶动力学模型的位姿混合控制问题，转换为基于全驱型悬架节点动力学模型的单纯位移控制问题。提出并构建动态基准和基准误差，解决现有方法对车身铅垂高依赖和限制的技术瓶颈，同时提高车辆的通过性能。建立基于基准误差的扩张状态观测器，实现动态解耦，并提出一种低复杂度行驶调平控制方法。借助汽车系统仿真软件Carsim验证本文方法的有效性。结果表明，与经典基于常值基准的整车型控制方法对比，在所提出方法作用下，车辆的行驶调平精度提高了1个数量级；特别是在路面激励幅度超过作动器行程的工况下，车辆的舒适性和安全性尤为改善。
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.
关键词
特种装备车辆 /
主动悬架 /
行驶调平 /
动态基准 /
低复杂度 /
扩张状态观测器
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Key words
special equipment vehicle /
active suspension /
driving leveling /
dynamic reference /
low complexity /
extended state observer
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