论文部分内容阅读
根据军用履带式车辆对悬挂系统的要求 ,对半主动悬挂 1/4车模型进行了理论分析 ,在此基础上对控制模型在有限带宽内进行了降阶简化。以振动加速度和悬架变形的加权二次型最小为控制性能指标 ,进行了线性高斯二次控制器 (LQG)的设计 ,并以此作为模型参考自适应控制系统的参考模型。运用李雅谱诺夫稳定性理论设计了直接模型参考自适应控制系统 (MRAC)。仿真研究表明 ,MRAC能够适应悬架系统参数的变化 ,跟踪LQG控制的最优性能 ,该系统对路面变化和悬架系统参数变化均具有良好的自适应性和鲁棒性
According to the requirement of suspension system for military crawler vehicles, the 1/4-car model of semi-active suspension is theoretically analyzed. On the basis of this, the control model is reduced in the limited bandwidth. The linear Gaussian quadratic controller (LQG) was designed with the minimum of weighted quadratic vibration acceleration and suspension deformation as the control performance index and used as reference model for the model reference adaptive control system. The direct model reference adaptive control system (MRAC) is designed using the Lyapunov stability theory. The simulation results show that MRAC can adapt to the changes of suspension system parameters and track the optimal performance of LQG control. The system has good adaptability and robustness to changes of road surface and suspension system parameters