The control performance of a vehicle steer-by-wire (SBW) system can be seriously affected by vagaries of tyre-road conditions and external disturbance. Aiming at the problem of fast estimating and compensating the time-varying disturbance torque acting on the front wheels under different working conditions, this article presents a super-twisting algorithm (STA) combined with fast super-twisting disturbance observer (FSTDO) control scheme. At first the SBW system is modelled according to the experiment plant. Secondly, the FSTDO is designed according to SBW system model. A fast reaching law is adopted to accelerate the sliding variable convergence rate and enhance the response speed of the observer. The FSTDO-STA controller adopts STA control in closed-loop system. The control signal is continuous, so that, the chattering could be inhibited. The stability of FSTDO error dynamics and closed-loop dynamics is proved in the sense of Lyapunov. Finally, comparative verification experiments are carried out to demonstrate the validity of FSTDO-STA. The FSTDO-STA controller can quickly estimate and compensate disturbance torque under various operating conditions. Compared with other comparative algorithms, the proposed controller has some advantages in response speed, control accuracy and robustness. And it was corroborated by the experimental results.
The optimization of hydro-pneumatic suspension parameters of a multi-axle heavy motorized wheel dump truck is carried out based on virtual and real prototype experiment integrated Kriging model in this article. The root mean square of vertical vibration acceleration, in the center of sprung mass, is assigned as the optimization objective. The constraints are the natural frequency, the working stroke, and the dynamic load of wheels. The suspension structure for the truck is the adjustable hydro-pneumatic suspension with ideal vehicle nonlinear characteristics, integrated with elastic and damping elements. Also, the hydraulic systems of two adjacent hydro-pneumatic suspension are interconnected. Considering the high complexity of the engineering model, a novel kind of meta-model called virtual and real prototype experiment integrated Kriging is proposed in this article. The interpolation principle and the construction of virtual and real prototype experiment integrated Kriging model were elucidated. Being different from traditional Kriging, virtual and real prototype experiment integrated Kriging combines the respective advantages of actual test and Computer Aided Engineering simulation. Based on the virtual and real prototype experiment integrated Kriging model, the optimization results, obtained by experimental verification, showed significant improvement in the ride comfort by 12.48% for front suspension and 11.79% for rear suspension. Compared with traditional Kriging, the optimization effect was improved by 3.05% and 3.38% respectively. Virtual and real prototype experiment integrated Kriging provides an effective way to approach the optimal solution for the optimization of high-complexity engineering problems.
KeywordsRide comfort, optimization, the multi-axle heavy motorized wheel dump truck, virtual and real prototype experiment integrated Kriging
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