Optimal Control of Agricultural UTV Semi-Active Suspension Based on EGA
Aiming at the vehicle vibration caused by UTV driving on harsh roads,a four-degree-of-freedom(4-DOF)semi-ac-tive suspension dynamic model including pitch is established.And propose an EGA-LQR compound control strategy,design the adaptive optimal controller that satisfies physical constraints of the suspension system,and use the global optimization and fast convergence characteristics of the EGA to optimize the weight matrix of the LQR to output the damping force.The road model and suspension model of agricultural UTV was built in Matlab/Simulink for time domain simulation.The results show that the EGA-LQR control significantly reduces the root mean square value of sprung mass acceleration,pitch angular acceleration,the front and rear wheel dynamic tyre deformation and the front and rear suspension working space,it effectively guarantees the comfort and safety of the UTVdriving on farmland roads.
UTVSemi-Active SuspensionDynamic ModelElite Genetic AlgorithmOptimal Control
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