履带车辆肘内式半主动油气悬挂性能研究
Research on In-Arm Semi-active Hydro-Pneumatic Suspension of Tracked Vehicle

肘内式油气悬挂与传统油气弹簧相比，能够以较小的体积和质量，提供更高的负载能力。将履带车辆肘内式油气悬挂单轮模型与半主动控制相结合，进行了半主动肘内式油气悬挂动态特性分析，提出了基于天棚算法的半主动双环控制策略，外环控制器计算目标阻尼力对应的阀芯位置，内环控制器控制阀芯跟踪目标位置，从而达到改善履带车辆平顺性的目的。探索了Virtual.Lab,AMESim和Matlab之间的集成接口，搭建了机电液耦合系统的联合仿真虚拟试验平台，并在该平台对控制算法进行了验证，结果表明肘内式油气悬挂半主动性能显著优于被动悬挂。
An in-arm hydro-pneumatic suspension unit (ISU) has greater load capacity with smaller and lighter size than a normal hydro-pneumatic suspension. The ISU of a tracked vehicle combined with the semi-active control system is used to analyze its dynamic characteristics. A semi-active two-control-loop controller using an on-off skyhook control algorithm is proposed. The outer loop calculates a target spool position that can deliver the required damping force, and the inner loop tracks the required spool position. The integration interfaces among Virtual. Lab, AMESim, and Matlab are studied, and the virtual experimental platform for co-simulation of a mechanical-electrical-hydraulic system is established. The validity of the proposed control algorithm is proved under the platform. The simulation results show that the semi active suspension control system has better performance than the conventional suspension system.