Abstract
The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF) suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (csky, cground, chybrid) and self-adaptive control gain (cv) under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive), and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.
Highlights
The driving conditions for high-speed tracked vehicles are harsh and varied
The rules for weight allocation are as follows: under the same disturbance velocity grade, when the frequency is close to the natural frequency of the vehicle body great attention should be paid to the improvement of ride comfort; when the frequency approaches the natural frequency of the wheel, the emphasis should be on suppression of the wheel dynamic load and suspension stroke [34]
A test rig for the hydropneumatic suspension was used to perform an experimental study of the proposed control strategy and verify its feasibility
Summary
The driving conditions for high-speed tracked vehicles are harsh and varied. With the adoption of a damping adjustable suspension system, can the vibration performance of a vehicle be improved, the average off-road speed can be substantially improved, thereby enhancing the motility and effectiveness of the vehicle [1]. Semiactive hydropneumatic suspensions take the vibration status of a vehicle as input, schedule the system damping in real-time according to a certain control algorithm, and, in turn, improve ride comfort and safety during driving. In terms of the semiactive control algorithm of the tracked vehicle, most studies care only about the improvement of the ride comfort [19,20,21] The problems such as the reasonable control between the ride comfort and safety and optimum scheduling of the damping control gain under different disturbances are waiting to be solved. The proposed strategy takes advantage of the adaptability of the suspension control algorithm and damping control gain scheduling under different road excitations. Experimental study of typical control strategies was performed and the results showed that the proposed control strategy outperforms the others in achieving a good tradeoff between the ride comfort and safety under various riding conditions
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