软地面半履带气垫车姿态控制研究
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摘要
半履带式气垫车将气垫技术与半履带式行走机构有机结合在一起,可用于有效提高海滩、河流、沙漠、沼泽等地面松软地带车辆的通过性。该车辆在行驶过程中,由于车速的变化、载重的不均匀、路面的不平整以及围裙的泄漏等原因会造成车体出现俯仰和侧倾现象,使行驶阻力增大,造成总功率消耗增加,极端情况下甚至使行驶更加困难。因此,研究如何协调车辆行驶的功率消耗、驱动性能以及车辆运行时的姿态控制三者之间的关系对于提高车辆性能具有十分重要的意义。
本文的研究工作是结合国家自然基金“软地面半履带气垫车载荷匹配及行驶姿态的控制研究”(项目号:50675135)进行的。针对半履带气垫车辆结构实现方案、气垫系统的特性试验、利用多气垫系统进行车身姿态调节时垫升系统的建模以及半履带气垫车姿态控制方案等问题,进行了较系统的研究。
本文在回顾气垫车辆及其控制技术的研究现状和控制中存在的问题的基础上,建立了整车动力学模型和虚拟样机模型。在此基础上,设计制作了半履带气垫车的原理样机。通过对原理样机的气垫系统相关试验和相对应的流体力学仿真,进行了多气垫系统的特性研究,并建立了多气垫系统的正向特性和逆向特性的神经网络模型。
本文结合集成控制和分层控制的思想,提出了同时考虑车辆功率消耗、行驶驱动控制和车身姿态控制的半履带气垫车姿态控制方案。首先提出了混合广义极限优化算法(HGEO)来求解前馈控制回路中的最优功率,得到的前馈控制广义力是可以保证车辆运行状态所需的基本目标广义力;在反馈控制回路中,利用模型预测控制器(MPC)来求解反馈控制目标广义力,使基本目标广义力根据车辆运行目标得到修正,进一步保证了车辆运行状态所需的修正目标广义力;在目标广义力分配模块中,将最终目标广义力通过序列二次规划(SQP)分配成目标驱动力矩和目标气垫压强;对于得到的目标气垫压强,通过气垫系统逆特性人工神经网络模型转换成所需的风机转速和各子气垫可变阀门开度值。针对典型工况进行的仿真结果表明,所建立的车辆姿态控制器具有较好的控制性能,同时也验证了控制框架中各模块的必要性。
带非线性特性的气垫系统和车轮-土壤间的非线性作用引起了半履带气垫车辆纵向、侧向和垂向动力学之间的耦合,由此所带来的控制问题是亟待解决的车辆工程领域的技术难点之一。本文所提出的对于半履带气垫车辆车辆姿态的控制器较为合理的考虑了这些耦合关系,既融合了车辆动力学、土壤地面力学、试验研究、计算流体力学、虚拟样机技术、优化计算与先进控制理论应用,又兼顾了车辆功率消耗、行驶驱动控制和车身姿态控制,对工程技术领域和今后的非路面车辆控制系统的相关研究具有一定的参考价值。
The semi-track air-cushion vehicle (STACV), which effectively combines air cushion technology and semi-track walking mechanism, can be used to improve transportability of vehicles at soft terrain areas, such as beaches, rivers, deserts, swamps, etc. Due to the change of speed, the unbalance of load, the unevenness of road and the leakage of skirt, the vehicle body pitch and roll will increase during the STACV driving, which will indirectly increase the total power consumption, driving resistance and even difficult to travel. Therefore, the research of how to coordinate the relationship among the vehicle power consumption, driving performance and vehicle driving attitude control is of great value.
Based on the National Natural Science Foundation of China (NSFC) entitled“Research on load distribution and driving attitude control of Semi-Track Air-Cushion Vehicle on soft ground”(No. 50675135), the study on the attitude control for the STACV on soft terrain is carried out, especially emphasized on the structure realization of the STACV, air cushion system performance test, modeling of multi air cushion system for vehicle body attitude control and attitude control scheme of the STACV.
After reviewing the research status of air cushion vehicle and its control technology and the problems in controlling the vehicle, a full vehicle dynamics model and corresponding virtual prototype are establishment. Then, a prototy of the STACV is built up. Through the air cushion system related test on the prototype and the corresponding fluid dynamics simulation, the performance of multi air cushions system is studied using fluid dynamics simulation and forward and reverse characteristics of neural network models are built up for them.
Combining the integrated control and hierarchical control method, a vehicle attitude control framework is proposed for the STACV by taking into account the vehicle power consumption, diring control and vehicle body attitude control together. In feedworward ontrol loop, the optimal power is sovled by using the new proposed hybrid generalized extremal optimization algorithm (HGEO) and the resulting generalized force vecetor for feedforward control is the basic object generalized force which can ensure the basic vehicle running status; in the feedback control loop, the model predictive controller (MPC) is used to solve the target generalized feedback force vector which is the modification of the basic object generalized force according to the vehicle running status and can further ensure the vehicle running target; in the generalized force distribution module, the ultimate target of the generalized force is assigned to the target dirving torques and the target air cushion pressures by sequential quadratic programming (SQP); the resulting object air cushion pressures is further converted into the requied fan rotational speed and variable orifices opening using the reverse neural network model of the air cushion system. The simulation results for typical operation conditions show that the established vehicle attitude controller has good control performance, and at the same time the necessity of each control module in the control framework is also validated.
The nonlinear air cushion system and the interaction between wheels/semi-tracks and terrain cause the coupling among longitudinal, lateral and vertical dynamics of the STACV. The resulting control problem is one of the technical difficulties to be solved in vehicle engineering fields. The proposed vehicle attitude controller takes into account these coupling relationships, which not only combines vehicle dynamics, terrain mechanics, experimental study, computational fluid dynamics, virtual prototype technology, optimization and advanced control theory, but also balances the power consumption of the vehicle, driving and vehicle body attitude control. It has certain reference value for both the field of engineering thchnology and future off-road vehicle control system research.
本文的研究工作是结合国家自然基金“软地面半履带气垫车载荷匹配及行驶姿态的控制研究”(项目号:50675135)进行的。针对半履带气垫车辆结构实现方案、气垫系统的特性试验、利用多气垫系统进行车身姿态调节时垫升系统的建模以及半履带气垫车姿态控制方案等问题,进行了较系统的研究。
本文在回顾气垫车辆及其控制技术的研究现状和控制中存在的问题的基础上,建立了整车动力学模型和虚拟样机模型。在此基础上,设计制作了半履带气垫车的原理样机。通过对原理样机的气垫系统相关试验和相对应的流体力学仿真,进行了多气垫系统的特性研究,并建立了多气垫系统的正向特性和逆向特性的神经网络模型。
本文结合集成控制和分层控制的思想,提出了同时考虑车辆功率消耗、行驶驱动控制和车身姿态控制的半履带气垫车姿态控制方案。首先提出了混合广义极限优化算法(HGEO)来求解前馈控制回路中的最优功率,得到的前馈控制广义力是可以保证车辆运行状态所需的基本目标广义力;在反馈控制回路中,利用模型预测控制器(MPC)来求解反馈控制目标广义力,使基本目标广义力根据车辆运行目标得到修正,进一步保证了车辆运行状态所需的修正目标广义力;在目标广义力分配模块中,将最终目标广义力通过序列二次规划(SQP)分配成目标驱动力矩和目标气垫压强;对于得到的目标气垫压强,通过气垫系统逆特性人工神经网络模型转换成所需的风机转速和各子气垫可变阀门开度值。针对典型工况进行的仿真结果表明,所建立的车辆姿态控制器具有较好的控制性能,同时也验证了控制框架中各模块的必要性。
带非线性特性的气垫系统和车轮-土壤间的非线性作用引起了半履带气垫车辆纵向、侧向和垂向动力学之间的耦合,由此所带来的控制问题是亟待解决的车辆工程领域的技术难点之一。本文所提出的对于半履带气垫车辆车辆姿态的控制器较为合理的考虑了这些耦合关系,既融合了车辆动力学、土壤地面力学、试验研究、计算流体力学、虚拟样机技术、优化计算与先进控制理论应用,又兼顾了车辆功率消耗、行驶驱动控制和车身姿态控制,对工程技术领域和今后的非路面车辆控制系统的相关研究具有一定的参考价值。
The semi-track air-cushion vehicle (STACV), which effectively combines air cushion technology and semi-track walking mechanism, can be used to improve transportability of vehicles at soft terrain areas, such as beaches, rivers, deserts, swamps, etc. Due to the change of speed, the unbalance of load, the unevenness of road and the leakage of skirt, the vehicle body pitch and roll will increase during the STACV driving, which will indirectly increase the total power consumption, driving resistance and even difficult to travel. Therefore, the research of how to coordinate the relationship among the vehicle power consumption, driving performance and vehicle driving attitude control is of great value.
Based on the National Natural Science Foundation of China (NSFC) entitled“Research on load distribution and driving attitude control of Semi-Track Air-Cushion Vehicle on soft ground”(No. 50675135), the study on the attitude control for the STACV on soft terrain is carried out, especially emphasized on the structure realization of the STACV, air cushion system performance test, modeling of multi air cushion system for vehicle body attitude control and attitude control scheme of the STACV.
After reviewing the research status of air cushion vehicle and its control technology and the problems in controlling the vehicle, a full vehicle dynamics model and corresponding virtual prototype are establishment. Then, a prototy of the STACV is built up. Through the air cushion system related test on the prototype and the corresponding fluid dynamics simulation, the performance of multi air cushions system is studied using fluid dynamics simulation and forward and reverse characteristics of neural network models are built up for them.
Combining the integrated control and hierarchical control method, a vehicle attitude control framework is proposed for the STACV by taking into account the vehicle power consumption, diring control and vehicle body attitude control together. In feedworward ontrol loop, the optimal power is sovled by using the new proposed hybrid generalized extremal optimization algorithm (HGEO) and the resulting generalized force vecetor for feedforward control is the basic object generalized force which can ensure the basic vehicle running status; in the feedback control loop, the model predictive controller (MPC) is used to solve the target generalized feedback force vector which is the modification of the basic object generalized force according to the vehicle running status and can further ensure the vehicle running target; in the generalized force distribution module, the ultimate target of the generalized force is assigned to the target dirving torques and the target air cushion pressures by sequential quadratic programming (SQP); the resulting object air cushion pressures is further converted into the requied fan rotational speed and variable orifices opening using the reverse neural network model of the air cushion system. The simulation results for typical operation conditions show that the established vehicle attitude controller has good control performance, and at the same time the necessity of each control module in the control framework is also validated.
The nonlinear air cushion system and the interaction between wheels/semi-tracks and terrain cause the coupling among longitudinal, lateral and vertical dynamics of the STACV. The resulting control problem is one of the technical difficulties to be solved in vehicle engineering fields. The proposed vehicle attitude controller takes into account these coupling relationships, which not only combines vehicle dynamics, terrain mechanics, experimental study, computational fluid dynamics, virtual prototype technology, optimization and advanced control theory, but also balances the power consumption of the vehicle, driving and vehicle body attitude control. It has certain reference value for both the field of engineering thchnology and future off-road vehicle control system research.
引文
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