Simulation of MR semi-active control of tracked vehicles based on road multi-input excitation

For verifying MR semi-active control result based on LQR(linear quadratic regulator) algorithm, the author simulates the curves of displacement, acceleration, angular displacement and angular acceleration of tracked vehicle body after inputting the road excitation into five road wheels. Firstly,7 degree-of-freedom vehicle model and state equation are established under the condition of road multi-disturbance. Then, semi-active controllable forces are obtained by using LQR algorithm and Hrovat strategy. Optimal index and weighed coefficient are put forward in order to reducing the ride comfort. Finally, by simulating the road excitation of different velocity, the effect of semi-active and no control are compared and analyzed.