Research On Tracked Vehicle Active Suspension System With Random Disturbance

Tracked vehicle suspension system elastic carries the whole body,moderates the impact caused by external motivation and is an important part of the whole vehicle system.The vibration caused by rough road surface excitation affects the dynamic performance of tracked vehicles.The excellent quality such as maneuverability,handling and comfort is the precondition to ensure the best performance of the suspension system.However,the tracked vehicle suspension system is mostly in the harsh external working environment and driving conditions,which creates a conflict between comfort and handling.Therefore,tracked vehicles must be able to cope with the pavement condition of different grades.This has led to the development of active suspension system,it breaks through the limitation of the traditional passive suspension system,by designing different control strategies to avoid the conflict between different performance indexes and make the performance meeting the requirements.This paper is for the purpose of reducing the vibration of vehicles,optimizing its performance indicators.The content is divided into the following several points:Firstly,establish the road roughness model using the method of integrating white noise through a filter,and a simplified dynamic model of suspension system with eight degrees of freedom is built which is based on Newton's second law and the law of moment balance,The main indexes of evaluating suspension system performance are given.At the same time,analysis the influence between suspension system and gun control system which is caused by road surface excitation,and the kinematics equation between them is established.Secondly,the common control strategies used in the active suspension system are given,and the advantages and disadvantages of each control method are analyzed.Among them,the fuzzy control method is chosen to design the fuzzy controller of the suspension system,it is used for the comparison with the following active disturbance rejection control.Then,the control principle of the classical PID control is analyzed,and the new control strategy?ADRC is given based on the analysis of the inherent shortcomings and deficiencies towards PID.The working principle and structure of ADRC are introduced in detail,and several common parameter tuning methods are summarized.Furthermore,the parameters of extended state observer are optimized by genetic algorithm.Finally,decoupling the model of suspension system,and then the active disturbance rejection controller is designed.The parameters of the controller are determined based on genetic algorithm and bandwidth method.In addition,the control effect of the fuzzy controller and the ADRC controller is compared through the simulation experiments,which proved that the active disturbance rejection control has better robustness and effectiveness.