Semi-active Sliding Mode Control of 3-RPS Seat Suspensions used in Construction Vehicles
The engineering vehicles are always working in adverse environments,and the passive vibration reduction in the vertical dimension cannot meet the actual demand.In order to solve this problem,a novel 3D control strategy is proposed according to the 3-RPS parallel mechanism seat suspension which can realize 3D vibration reduction.A new 3D ceiling control model based on the 3D vibration mechanism model is designed as a reference object for sliding mode control.The sliding mode controller is designed to analyze and judge the stability of the control system according to the Lyapunov stability criterion.The seat-human vibration model is established by using Simulink,and the vibration reduction effects of the seat using sliding mode control and passive control mode in the road environment of E,F and G levels are respectively analyzed.The results show that compared with the passive seat suspension,the reduction rate of acceleration in vertical direction is between 38.88%and 57.06%,and the reduction rate of angular acceleration in pitch direction is between 36.00%and 54.89%.At the same time,the angular acceleration reduction rate in the rolling direction is between 49.58%and 59.97%.This method can effectively reduce the peak acceleration in the vertical direction,and has a good vibration damping performance for the shock load.The study may provide a reference for the study of semi-active multi-dimensional vibration control of seat suspensions.
vibration and waveconstruction vehicle3-RPS parallel mechanism3D ceiling controlsliding mode control
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