Research on Vibration Control of Tracked Vehicle Body Based on Skyhook-PID Algorithm
With the rapid development of tracked anti-aircraft guns,higher requirements are put for-ward for the stability of the moving vehicle body.Therefore,it is of great significance to study how to reduce the vibration of the tracked vehicle body on different roads.On the basis of reasonable simplifi-cation of the tracked vehicle body,the Lagrange motion equation is established,and the state equation is introduced for calculation.The model of the tracked vehicle body is built by Simulink to analyze the vibration of the vehicle body when driving at a speed of 25 km/h on B,D,and F grade roads.PID control and skyhook-PID control are used to optimize the model.The simulation results show that the average increase of vehicle body vibration under traditional,PID and skyhook-PID control modes is 5 times,4 times and 2 times respectively from grade B,grade D to grade F,so the stability of skyhook-PID control algorithm is better.In the same grade of road surface,the reduction degree of the vertical displacement and pitch angle of the vehicle body controlled by the skyhook-PID is nearly 40％higher than that of the PID control,and the reduction degree of the roll angle of the vehicle body is more than 50％higher than that of the PID control,and the vibration reduction effect is obvious.Therefore,the tracked vehicle body with skyhook-PID control is more stable on bumpy roads.
track systemstabilitythe moving car bodyPIDskyhook-PID
万方数据
维普
