| China is a country with large land area,and the development of infrastructure in different regions is not balanced.Most of the major natural disasters occur in remote areas.In some mountainous areas and areas with poor road conditions,the smoothness of emergency vehicles has been greatly challenged,in particular,in some cases,the rescue vehicles need to work in the travel,which has a high requirement for the ride comfort of the vehicle,and the traditional suspension system is difficult to achieve this goal.Active suspension is helpful to control the vehicle pose.Emergency rescue vehicles are mostly multi-axis vehicles,because of the large weight of the vehicle,the long body of the body and the larger dynamic load of the tire,the ride comfort of the vehicle is generally poor.At present,the research on ride comfort of multi-axle vehicles mainly focuses on passive suspe nsion,and few studies on the active suspension of multi-axle vehicles.When the multi axis emergency rescue vehicle runs in the poor pavement of the disaster area,the comfort of the vehicle is poor.when the multi axis emergency rescue vehicle is working in the road,it has a high requirement for the ride comfort.The research of active suspension technology for multi axle emergency rescue vehicle is of great significance for solving the above problems.In this paper,based on the key national research and development program "high-mobility emergency vehicles(including fire-fighting vehicles)chassis and suspension of key technologies"(2016YFC0802902),designing the controller of the three-bridge vehicle active suspension to improve the smoothness of emergency rescue vehicles.The research contents of this paper mainly include:Firstly,established a simplified mathematical model.Established nine degree of freedom active suspension model based on the ride comfort.The state equation of the model is derived by combining the mathematical model and the modern control theory.Considering the needs of the later simulation,I build a road model.The evaluation index of suspension performance is introduced.Secondly,designed the active suspension controller of emergency rescue three-bridge vehicle.Designed the active suspension controller based on optimal control theory.To achieve full state feedback,Kalman filter is introduced to realize vehicle state estimation.An active suspension optimal controller based on kalman filter is designed.Thirdly,Optimized the active suspension controller by niche adaptive genetic algorithm.To solve the problem that the weighted parameters of the active suspension controller is difficult to determine,I Optimized the weighted parameters by niche adaptive genetic algorithm.Improved performance of the controller.Fourthly,The co-simulation of active suspension system.Established the Trucksim-Simulink co-simulation model of active suspension system.Do the simulation of passive suspension,KFLQG active suspension and NAGA-KFLQG active suspension under different excitation.Analyzed the output performance of the three suspensions.The results show that the performance of NAGA-KFLQG active suspension system is the best.Fifthly,The real time simulation of active suspension by dsPAC E.Verified the control algorithm of the active suspension by MATLAB/dsPAC E.After analysis,the NAGA-KFLQG active suspension system performed well.It can effectively improve the ride comfort. |
