Ahn Da-Vin, Kim Kyeongdae, Oh Jooseon, Seo Jaho, Lee Jin Woong, Park Young-Jun
Department of Biosystems Engineering, College of Agriculture and Life Sciences, Seoul National University, Seoul 08826, Republic of Korea.
Convergence Major in Global Smart Farm, College of Agriculture and Life Sciences, Seoul National University, Seoul 08826, Republic of Korea.
Sensors (Basel). 2023 Jul 17;23(14):6474. doi: 10.3390/s23146474.
In this study, a semi-active suspension based on a hydro-pneumatic mechanism was designed to minimize the ride vibration using a suspension control algorithm. The performance of the algorithm was critical for controlling the characteristics of the target tractor. A linear-quadratic-Gaussian (LQG) optimal control algorithm was designed as a semi-active suspension control algorithm. The plant model for developing this algorithm was based on the parameters of an actual tractor. The rear suspension deflection was represented by a Kalman-filter-based state observer feedback to estimate the state variables that were difficult to measure. The designed state observer of the LQG controller was validated in terms of an accuracy index. The estimated vertical velocity and acceleration accuracies of the cabin were 83% and 79%, respectively. The performance of the designed controller was validated in terms of a performance index by comparing the performance of a tractor equipped with a rear rubber mount with that of one equipped with a semi-active suspension. The peak and root-mean-square values of the vertical acceleration of the cabin were reduced by up to 48.97% and 47.06%, respectively. This study could serve as a basis for the application of the control algorithm to systems with similar characteristics, thereby reducing system costs.
在本研究中，设计了一种基于液压气动机构的半主动悬架，以使用悬架控制算法将行驶振动降至最低。该算法的性能对于控制目标拖拉机的特性至关重要。设计了一种线性二次高斯（LQG）最优控制算法作为半主动悬架控制算法。开发此算法的工厂模型基于实际拖拉机的参数。后悬架挠度由基于卡尔曼滤波器的状态观测器反馈表示，以估计难以测量的状态变量。LQG控制器的设计状态观测器在精度指标方面得到了验证。驾驶舱估计的垂直速度和加速度精度分别为83%和79%。通过比较配备后橡胶支架的拖拉机和配备半主动悬架的拖拉机的性能，在性能指标方面验证了所设计控制器的性能。驾驶舱垂直加速度的峰值和均方根值分别降低了48.97%和47.06%。本研究可为将控制算法应用于具有相似特性的系统提供基础，从而降低系统成本。
