Research On Attitude Active Control Theory And Key Technology Of Multi-Axle Independent Suspension Vehicles In Parking State

In recent years,the international situation is turbulent,and the competition of military equipment is fierce in various countries.In view of the difficult problems such as poor passing ability of special civil/military vehicles(include unmanned off-road vehicles)on bumpy roads and uncontrolled body attitude on extreme terrains such as mountains,woodlands and reefs,it is urgent to study the active attitude control theory and key technologies of vehicles.In order to solve this problem,this paper mainly studies the parking of multi-axis independent suspension vehicle car appearance active control theory and key technology,through the parking conditions for vehicle attitude adjustment in advance,ensure the vehicle dynamic driving through sexual enhancement.In this paper,the basic theory and key technology of active attitude control for vehicles with arbitrary number of axles and independent suspension are constructed.Body posture and suspension was established by the actuation is inverse computation model between and multi-body dynamics simulation verification;Secondly,in view of the arbitrary target vehicle posture adjustment,continuous rocker position adjustment application scenarios,such as specific control strategy was put forward and write the corresponding control procedures;Finally,a three-axis independent hydraulic suspension test platform was developed,and the active control experiment of the system was carried out to verify the correctness of the theory and the feasibility of the strategy.The full text of the main work is as follows:(1)The forward and reverse solution model between the body attitude and the vehicle suspension motion was given and multi-body dynamics simulation was performed.A multi-body dynamics simulation was conducted to derive the coordinates of the nodes of the vehicle frame in the vehicle attitude transformation by using the coordinate transformation principle.In addition,the simulation model was established in the simulation software,and the theory and simulation were compared to verify the correctness and feasibility of the model.(2)To design the specific control strategy and develop the corresponding functions for the established forward and reverse solution model.Firstly,all the posture transformations that can be realized based on the model were given,and detailed strategy diagrams and implementation steps were developed.Secondly,based on the forward and reverse solution model,the continuous rocker posture adjustment function,the constant point aiming function and the posture adjustment function under the demand of wheel-axle split control were developed.(3)Built a three-axis independent suspension vehicle experimental platform,including the design and selection of hardware,hydraulic system design and selection,and control system design.The vehicle suspension active control adopts the hydraulic drive scheme;the signal acquisition and program writing of the vehicle adopts the micro-controller and Lab VIEW software,through the program control of the suspension cylinder action,to realize the posture adjustment under various working conditions.(4)Experiment on the active control of three-axle independent suspension vehicles with different specific postures.According to the established posture adjustment model and the control program written,the vehicle can realize the functions of rapid leveling,lateral tilting,chassis lifting,pitching,constant point aiming,and multi-position compound adjustment.The correctness and feasibility of the model were verified through experiments.This paper discussed the theory and key technology of active posture control of multi-axle independent suspension vehicles from three aspects: theory,simulation,and experiment,and not only developed the three-axle independent suspension vehicle and establishes the corresponding posture control model but also further wrote the theory into the control program and carried out active control experiments.The proposed theory and strategy can achieve fast,flexible,and effective posture control,which positively enriched the active suspension control function and improved the terrain adaptability and serviceability of special vehicles.