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针对油气悬架的非线性特性,建立了矿用汽车1/4车辆半主动油气悬架动力学模型.利用微分几何原理,实现了非线性模型精确线性化;为克服动态系统的不确定性,采用了自适应LQG控制策略.根据矿山路面的实际要求,采用了层次分析法确定LQG控制器各性能指标的加权系数.仿真结果表明层次分析法易于加权系数的合理选择;半主动油气悬架自适应LQG控制能够有效降低车身振动,较被动油气悬架显著提高了平顺性和操稳性,有效地提高了在矿山路面的行驶安全性.
According to the non-linear characteristics of the hydro-pneumatic suspension, a semi-active semi-active hydro-pneumatic suspension dynamics model of mining vehicle is established. Using the differential geometry principle, the nonlinear model is accurately linearized. To overcome the uncertainty of the dynamic system, The adaptive LQG control strategy is adopted.According to the actual requirements of mine road, AHP is used to determine the weighting coefficient of each performance index of LQG controller.The simulation results show that AHP is easy to choose reasonable weighting coefficient, Adapting to LQG control can effectively reduce the body vibration, compared with the passive oil and gas suspension significantly improve the ride and handling stability, effectively improve the driving safety of mine road surface.