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越野行驶中由车辆振动引起的不平衡扰动力对地面变形有明显的影响。应用车辆-地面沉陷理论推导了扰动力-沉陷系数公式,按照积极隔振原理建立1/10履带车辆考虑地面变形情况下主动控制悬挂系统动力学模型,同时以通行能力为评价目标,采用二次型经典最优控制算法LQR,对沙滩地下陷量进行仿真。通过改变加权值R,分析了悬挂特性对下陷量的影响。结果表明,减小悬挂系统的刚度或阻尼力可以降低对路面的扰动力,减小在沙滩上行驶时的下陷量。
Unbalanced disturbance caused by vehicle vibration during off-road driving has a significant impact on ground deformation. According to the principle of active isolation, a dynamic model of 1/10 tracked vehicle with active control of suspension system considering ground deformation was established. At the same time, the capacity was used as the evaluation target and the secondary Classical optimal control algorithm LQR, simulating the sag of the beach. By changing the weight value R, the influence of suspension characteristics on the sag is analyzed. The results show that reducing the stiffness or damping force of the suspension system can reduce the disturbance to the road surface and reduce the sag when traveling on the beach.