• 应用研究 •

### 扭杆式履带车辆机电悬架的非线性随机最优振动控制1)

1. *浙江大学航空航天学院,杭州 310027
†中国北方车辆研究所, 北京 100072
• 收稿日期:2020-05-29 修回日期:2020-07-07 出版日期:2020-12-20 发布日期:2020-12-20
• 通讯作者: 2) 宦荣华,教授,主要研究方向为随机动力学与控制。E-mail: rhhuan@zju.edu.cn
• 基金资助:
1) 国家自然科学基金(11772293) 和浙江省科技计划(2019C03129) 资助项目。

### NONLINEAR STOCHASTIC OPTIMAL CONTROL OF ELECTROMECHANICAL SUSPENSION OF TORSIONAL TRACKED VEHICLE1)

YAN Jingxi*, XIA Lei*, SONG Huixin, HUAN Ronghua*,2), ZHU Weiqiu*

1. *College of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China
†China North Vehicle Research Institute, Beijing 100072, China
• Received:2020-05-29 Revised:2020-07-07 Online:2020-12-20 Published:2020-12-20

Abstract: When a tracked vehicle runs on a rough road surface, the vehicle body usually undergoes strong vibration, which significantly affects the working environment of the combat personnel and the shooting accuracy during the motion. Therefore, the vibration control of the vehicle body is much required. In this paper, a nonlinear stochastic optimal vibration control strategy for the electromechanical suspension of a torsional tracked vehicle with consideration of the actuator saturation is proposed. Firstly, the nonlinear stochastic dynamic model of the suspension system is built based on the space structure of the torsional bar and the nonlinear model of the air spring. Then, based on the stochastic dynamical programming principle, the dynamical programming equation of the electromechanical suspension system is established. The optimal bounded control strategy is formulated by solving the dynamical programming equation with consideration of the saturation of the actuator. Finally, the effectiveness of the proposed control strategy is evaluated by comparing the statistics of the responses of optimally controlled and uncontrolled systems. The influence of the time-delay on the control effectiveness is also discussed. Numerical results show that the proposed control strategy can effectively mitigate the nonlinear stochastic vibration of the electromechanical suspension, and the control strategy is found to be quite robust against the variations of the system parameters. To ensure the effectiveness of the control force, the time delay should be controlled within 0.15 second.