A bionic adaptive vibration reduction system and adjustment method for a high mobility carrier platform

Abstract

The invention discloses a bionic adaptive vibration reduction system and control method for a high-mobility transport platform, comprising a frame (1), an upper end of a simulated femoral adductor oil cylinder (4), a lower end of a simulated tibial connecting rod (5) and an upper end of a simulated metatarsal connecting rod (14) hinged on the frame (1), the lower end of the simulated femoral adductor oil cylinder (4), the upper end of the simulated tibial connecting rod (5) and the upper end of the simulated Achilles tendon oil cylinder (8) are hinged at a first movable hinge point (6), the lower end of the simulated Achilles tendon oil cylinder (8) is hinged at a second movable hinge point (13) on the simulated tibial connecting rod (5), and a control unit obtains the vibration amplitude of the frame through a sensor, and adjusts the stiffness and damping of the oil cylinder according to the vibration amplitude. The system beneficially combines bionics with practical engineering applications, accurately establishes a bionic efficient adaptive coordinated vibration reduction system, improves the off-road performance and comfort of the high-mobility transport platform under high speed, heavy load and strong impact conditions, and extends its service life.

Description

Technical Field

[0001] The invention relates to a bionic vibration reduction structure used in a suspension system of a high-mobility carrier platform. Background Art

[0002] my country's extreme weather is becoming stronger, heavier and more frequent, and public safety and disaster events are frequent. The vibration generated by the high-mobility carrier during driving seriously affects its off-road performance, ride comfort and service life in multi-variable mechanical environments such as high speed, heavy load and strong impact. The vibration reduction system is a key component for attenuating vibration. It elastically connects the frame and wheels, buffers and transmits the vibration and impact generated by road excitation, and ensures the ride comfort and handling stability of the vehicle.

[0003] Through nearly 4 billion years of evolution and natural selection, creatures in nature have always found ways to adapt, overcome crises and solve many problems, and have evolved many delicate and sensitive biological structures with excellent impact resistance, energy absorption capacity and reusable features to maintain efficient and stable movements in harsh living environments, such as running, jumping and flying. These provide rich bionic inspiration for the design and manufacture of advanced structures with excellent mechanical properties.

[0004] Rhinos are the second heaviest terrestrial animals, weighing 3 tons, second only to elephants. With the support of their skeletal system, they rely on tendon units to drive their heavy bodies forward. Rhinos can move at speeds of up to 45 km / h. With such a large body weight, they show good adaptability when running fast. This is due to the fact that all bones of the rhinos are still significantly bent around the joints when they stand on their hind limbs, ensuring that they are able to run at full speed. The duty cycle of the foot is a fraction of the duration of its stride on the ground. A low duty cycle means a greater force, and the lowest duty cycle of the rhino is 0.39. This allows the rhino to generate a higher ground reaction force in the vertical direction, and the longer the limbs are suspended in the air, the faster they run. Rhinos with larger body weight and bone size have evolved muscle adaptations to support and move bodies weighing several tons. For example, the physiological cross-sectional area (PCSA) of the rhino's hind limb muscles is 1120cm 2 , ensuring that the body is not damaged without affecting their ability to gallop and reach a certain speed. The bone structure of the hind limbs and the powerful rapid propulsion muscles meet the rapid movement requirements of the huge body mass, which reflects the excellent adaptability to large weight and high speed.

[0005] Kangaroos mostly live in harsh environments such as Australian grasslands and deserts. Their emergency speed can reach 65km / h, and their body parts are often subjected to collisions and impact loads in complex environments. However, long-term natural selection has enabled them to evolve efficient anti-impact strategies and adaptive energy buffering mechanisms. These excellent performances are due to the fact that kangaroos automatically coordinate the movements of their various parts during the entire jumping process, keeping the total center of mass of the body relative to the center of mass of the body in the vertical direction. Changes are not obvious, thereby maintaining a high body stability during jumping; kangaroos have an excellent size-to-mass distribution ratio, with the size ratio of their thighs, calves, and soles being approximately 1:2:1.35. Their flexible long legs are as elastic as curved beams, which can effectively disperse the body's gravity and the ground impact force during jumping; the muscles, tendons, and ligaments in the hind limbs have excellent energy absorption characteristics, and the potential energy absorbed by the tendons is 10 times that of their muscles, which can withstand high-frequency and several times their own gravity impact. This unique structural combination plays an important role in the efficiency and energy conversion of the kangaroo's jumping movement, ensuring that the bioenergy and oxygen consumption in the kangaroo's body will not increase with the increase of impact force, while also effectively protecting its body structure and internal organs from damage.

[0006] Therefore, the present invention aims at the needs of extremely strong off-road passing performance, extending its service life and all-road adaptability under extreme disaster terrain conditions such as earthquakes, waters and polar ice and snow. Starting from the principles of bionics and biomechanics, the intrinsic connection between the body structure and movement characteristics of rhinos and kangaroos in nature and the application performance of all-terrain emergency rescue vehicles such as fast speed, heavy load and strong impact is explored, and based on the neural network control with strong robustness and fault tolerance; adopting parallel processing methods, fast calculation; possessing self-learning, self-organization and adaptability; and being able to fully approximate arbitrarily complex nonlinear relationships and other superior characteristics, a bionic adaptive vibration reduction system with excellent performance based on neural network control is designed.

[0007] The greater the suspension travel, the higher the achievable comfort. When designing the bionic vibration reduction system, the present invention mainly considers solving the inherent contradiction between load mass and suspension vibration, that is, improving ride comfort and preventing the suspension from exceeding the limit travel. Summary of the invention

[0008] The technical problem to be solved by the present invention is as follows: in view of the problem that a high-mobility transport platform generates strong vibrations due to uneven road surfaces during driving, a bionic vibration reduction structure is provided, and an automatic adjustment method is provided for the vibration reduction structure.

[0009] To achieve the above object, the present invention adopts the following technical solutions:

[0010] A bionic adaptive vibration reduction system for a high-mobility transport platform comprises a frame 1, an upper end of an imitation femoral adductor muscle oil cylinder 4, a lower end of an imitation tibial connecting rod 5 and an upper end of an imitation metatarsal connecting rod 14 are hingedly mounted on the frame 1, the lower end of the imitation femoral adductor muscle oil cylinder 4, the upper end of the imitation tibial connecting rod 5 and the upper end of an imitation Achilles tendon oil cylinder 8 are hingedly mounted at a first movable hinge 6, and the lower end of the imitation Achilles tendon oil cylinder 8 is hingedly mounted at a second movable hinge 13 on the imitation tibial connecting rod 5.

[0011] The hinge point of the upper end of the simulated femoral adductor oil cylinder 4 on the frame 1 is the first fixed hinge point 2, the first fixed hinge point 2 is higher than the first movable hinge point 6, the first movable hinge point 6 is higher than the lower end hinge point of the simulated tibial connecting rod 5, the lower end hinge point of the simulated tibial connecting rod 5 coincides with the upper end hinge point of the simulated metatarsal connecting rod 14 or is higher than the upper end hinge point of the simulated metatarsal connecting rod 14.

[0012] A first annular limiting groove 7 is provided at the upper end of the simulated tibial connecting rod 5, and the first annular limiting groove 7 cooperates with the pin fixed on the frame 1 to limit the swing amplitude of the simulated tibial connecting rod 5; a second annular limiting groove 11 is provided at the upper end of the simulated metatarsal connecting rod 14, and the second annular limiting groove 11 cooperates with the pin fixed on the frame 1 to limit the swing amplitude of the simulated metatarsal connecting rod 14.

[0013] The metatarsal-simulating connecting rod 14 is a bent structure, the second movable hinge 13 is located at the inflection point, and a third movable hinge 15 is provided at the lower end of the metatarsal-simulating connecting rod 14 and a road wheel 16 is hingedly mounted thereon.

[0014] The femoral adductor muscle simulation oil-pneumatic cylinder 4 and the Achilles tendon simulation oil-pneumatic cylinder 8 are equipped with a control unit 3 and a control unit 9, and the stiffness and damping of the oil-pneumatic cylinder are adjusted by the control unit.

[0015] The control unit obtains the vibration amplitude of the frame through sensors and adjusts the stiffness and damping of the oil and gas cylinder according to the vibration amplitude.

[0016] The vertical displacement of the frame and the vertical displacement of the wheel are detected by sensors, and the difference between the two is used as the vibration amplitude of the frame. The larger the vibration amplitude, the greater the stiffness and damping of the oil and gas cylinder.

[0017] The vertical acceleration of the frame and the vertical displacement of the wheel are detected, and the difference between the two is used as the basis for adjusting the damping of the oil and gas cylinder.

[0018] The neural network algorithm is used to calculate the adjustment amount of the control unit on the oil and gas cylinder stiffness and damping under different vibration amplitudes.

[0019] The controller stores the adjustment amount corresponding to the frame vibration amplitude under different terrain conditions, and adjusts the opening of the damping hole in the oil cylinder according to the current terrain and frame vibration amplitude.

[0020] Beneficial effects of the present invention:

[0021] (1) Based on the principle of bionics, the structural parameters and movement characteristics of the hind limbs of rhinoceros and kangaroos are studied, and the structural layout of the femoral adductor muscle oil cylinder, tibial connecting rod, metatarsal connecting rod and Achilles tendon oil cylinder with similar proportions is designed. The vibration reduction structure is equipped with an intelligent adaptive control system to work in coordination. The control center adjusts the stiffness and damping of the femoral adductor muscle oil cylinder and Achilles tendon oil cylinder by controlling the nonlinear filtering electronic control unit of the oil cylinder, and then adaptively adjusts the hardness and softness of the suspension, so that the high-mobility transport platform can adaptively adjust the body posture under high speed, heavy load and strong impact conditions, and has a better and more efficient movement form, thereby achieving excellent vibration reduction performance of the high-mobility transport platform.

[0022] (2) The imitation tibial connecting rod and the imitation metatarsal connecting rod are combined with a ring-type limit groove structure, avoiding the traditional heavy large-sized limit blocks. It can not only plan the movement path, but also limit the movement range. It has stable operation, is convenient for production and processing, and effectively reduces costs.

[0023] (3) It has the strong robustness and fault tolerance of neural network control; it adopts parallel processing methods and has rapid calculations; it has self-learning, self-organization, and self-adaptation; it can fully approximate arbitrarily complex nonlinear relationships and other superior characteristics.

[0024] In summary, the present invention discloses a bionic adaptive vibration reduction system for a high-mobility carrier platform. The present invention combines the principles of bionics, studies the structural parameters and motion characteristics of the hind limbs of rhinoceroses and kangaroos, and shows an efficient anti-impact strategy and an adaptive energy buffering mechanism. The bionic vibration reduction structure with nonlinear characteristics is determined and equipped with a nonlinear filtering electronic control unit based on an adaptive neural network. According to the actual operation requirements of the high-mobility carrier platform in extremely complex disaster terrains such as earthquakes, waters, mountains, nuclear and biological chemicals, polar snow areas at -40°C and high altitudes of 4,500 meters, the contradiction between comfort and suspension travel is adjusted, that is, when the suspension travel is small, the suspension is set to a soft suspension to improve comfort; when the suspension travel is large, the suspension is set to a hard suspension to avoid exceeding the travel limit. The system combines bionics with practical engineering applications, accurately establishes a bionic efficient adaptive collaborative vibration reduction system, and responds to the needs of the high-mobility carrier platform under high speed, heavy load, and strong impact conditions to improve the off-road performance and comfort of the high-mobility carrier platform and extend its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the engineering application diagram of the bionic adaptive vibration reduction system (2, 6, 10, 12, 15 are hinge points)

[0026] Figure 2 It is a simulated muscle (Achilles tendon) oil cylinder diagram

[0027] Figure 3 It is a simplified model of the suspension control system

[0028] Among them: 1-frame; 2-first hinge point; 3-first electronic control unit; 4-imitation femoral adductor oil cylinder; 5-imitation tibial connecting rod; 6-second hinge point; 7-first ring-type limiting groove; 8-imitation Achilles tendon oil cylinder; 9-second electronic control unit; 10-third hinge point; 11-second ring-type limiting groove; 12-fourth hinge point; 13-fifth hinge point; 14-imitation metatarsal connecting rod; 15-sixth hinge point; 16-road wheel; 17-lower end track. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] Embodiment 1:

[0031] The present invention provides a bionic adaptive nonlinear vibration reduction system for a high-mobility carrier platform, comprising: a frame 1, a nonlinear filtering electronic control unit, a femoral adductor oil cylinder 4, a tibial connecting rod 5, a metatarsal connecting rod 14, and an Achilles tendon oil cylinder 8, wherein the tibial connecting rod 5 and the metatarsal connecting rod 14 are respectively connected with an annular limiting groove. The femoral adductor oil cylinder 4 is autonomously adjusted by the electronic control unit to adjust the stiffness and damping force of the movement, and its upper end is fixed to the frame 1 and can rotate around the node, and the lower end is hinged to a point with the upper end of the Achilles tendon oil cylinder 8 whose stiffness and damping are adjusted by another electronic control unit and the upper end of the tibial connecting rod 5, and the upper end of the tibial connecting rod 5 is connected with an annular limiting groove and can rotate along the annular limiting groove. The lower end of the tibial connecting rod 5 is fixed to the frame 1 and can rotate around the node. The upper end of the simulated metatarsal connecting rod 14 is fixed to the frame 1 and connected with an annular limit groove and can rotate around the node, and the lower end is connected to the load-bearing wheel 16. The lower end of the simulated Achilles tendon oil cylinder 8 is hinged to the middle of the simulated metatarsal connecting rod 14, and its stiffness and damping can be adjusted according to the instructions of the control center.

[0032] Among them, the design steps of the nonlinear control unit are as follows:

[0033] Define virtual control design error variables z1, z2, positive design variables c2, and construct the actuator driving force input f according to the nonlinear vibration reduction system structure. f ,

[0034] f f =-z1-c2z2-h(Z)

[0035] in and is a smooth unknown function, v is a positive design constant, ζ=x1-x3 represents the suspension travel, is a nonlinear function, k is a negative constant, and the neural network WT S (Z) is used to approximate h(Z), thereby achieving suspension comfort control.

[0036] Embodiment 2:

[0037] A bionic adaptive vibration reduction system for a high-mobility transport platform, wherein the upper end of a femoral adductor muscle oil cylinder 4, the lower end of a tibial connecting rod 5 and the upper end of a metatarsal connecting rod 14 are hinged on a frame 1, the lower end of the femoral adductor muscle oil cylinder upper end 4, the upper end of the tibial connecting rod 5 and the upper end of an Achilles tendon oil cylinder 8 are hinged at a first movable hinge 6, and the lower end of the Achilles tendon oil cylinder 8 is hinged at a second movable hinge 13 on the tibial connecting rod 5.

[0038] The hinge point of the upper end of the simulated femoral adductor oil cylinder 4 on the frame 1 is the first fixed hinge point 2, the first fixed hinge point 2 is higher than the first movable hinge point 6, the first movable hinge point 6 is higher than the lower end hinge point of the simulated tibial connecting rod 5, the lower end hinge point of the simulated tibial connecting rod 5 coincides with the upper end hinge point of the simulated metatarsal connecting rod 14 or is higher than the upper end hinge point of the simulated metatarsal connecting rod 14.

[0039] A first annular limiting groove 7 is provided at the upper end of the simulated tibial connecting rod 5, and the first annular limiting groove 7 cooperates with the pin fixed on the frame 1 to limit the swing amplitude of the simulated tibial connecting rod 5; a second annular limiting groove 11 is provided at the upper end of the simulated metatarsal connecting rod 14, and the second annular limiting groove 11 cooperates with the pin fixed on the frame 1 to limit the swing amplitude of the simulated metatarsal connecting rod 14.

[0040] The metatarsal-simulating connecting rod 14 is a bent structure, the second movable hinge 13 is located at the inflection point, and a third movable hinge 15 is provided at the lower end of the metatarsal-simulating connecting rod 14 and a road wheel 16 is hingedly mounted thereon.

[0041] A control unit is installed on the femoral adductor muscle simulation oil cylinder 4 and the Achilles tendon simulation oil cylinder 8, and the stiffness and damping of the oil cylinder are adjusted by the control unit.

[0042] The control unit obtains the vibration amplitude of the frame through the sensor and adjusts the stiffness and damping of the oil and gas cylinder according to the vibration amplitude. The vertical displacement of the frame and the vertical displacement of the wheel are detected by the sensor, and the difference between the two is used as the vibration amplitude of the frame. The larger the vibration amplitude, the greater the stiffness and damping of the oil and gas cylinder.

[0043] The vertical acceleration of the frame and the vertical displacement of the wheel are further detected, and the difference between the two is used as the basis for adjusting the damping of the oil and gas cylinder.

[0044] Equivalent force

[0045] where F f is the equivalent force of vibration reduction, z c is the vehicle displacement, is the vertical velocity of the vehicle body, z w is the displacement of the road wheel, is the vertical speed of the road wheel, k f is the stiffness coefficient of the vibration reduction system, C fis the damping coefficient of the vibration reduction system, f f Input for the control unit.

[0046] The controller stores the adjustment amount corresponding to the frame vibration amplitude under different terrain conditions, and adjusts the opening of the damping hole in the oil cylinder according to the current terrain and frame vibration amplitude.

[0047] The neural network algorithm is used to calculate the adjustment amount of the control unit on the oil and gas cylinder stiffness and damping under different vibration amplitudes; the stiffness and damping of the frame under different road conditions and different vibration conditions are simulated as samples, and these samples are trained through the neural network. After training and verification, this neural network model is used to calculate the control amount under different detection values, and the opening of the damping hole in the oil and gas cylinder is adjusted according to the control amount.

[0048] Embodiment 3:

[0049] The present invention consists of a frame 1, an imitation femoral adductor oil cylinder 4, an imitation tibial connecting rod 5, an imitation metatarsal connecting rod 14, and an imitation Achilles tendon oil cylinder 8, wherein the imitation tibial connecting rod 5 and the imitation metatarsal connecting rod 14 are respectively connected to a first annular limiting groove 7 and a second annular limiting groove 11, and each component is connected by a hinge point and is obviously bent like the skeletal structure of the hind limbs of a rhinoceros or a kangaroo, the imitation femoral adductor oil cylinder 4, the imitation tibial connecting rod 5, and the imitation metatarsal connecting rod 14 are arranged in a proportion similar to the size of the hind limbs of a kangaroo or a rhinoceros, and the first and second electronic control units 3 and 9 adaptively adjust the stiffness and damping of the imitation femoral adductor oil cylinder 4 and the imitation Achilles tendon oil cylinder 8 according to the working conditions.

[0050] The upper part of the bionic adaptive vibration reduction system is fixed by the frame 1 and the upper ear of the imitation femoral adductor oil cylinder 4 through the first hinge point 2, the lower ear of the imitation femoral adductor oil cylinder 4, the upper end of the imitation tibial connecting rod 5, and the upper ear of the imitation Achilles tendon oil cylinder 8 are fixed to the second hinge point 6, and can slide along the first ring-type limiting groove 7 fixed to the frame 1, the lower end of the imitation tibial connecting rod 5 is fixed to the frame 1 through the third hinge point 10, and the upper end of the imitation metatarsal connecting rod 14 is fixed to the frame 1 through the third hinge point 11. The four hinge points 12 are fixed to the frame 1 and can slide along the second ring-type limit groove 11. The lower ear of the imitation Achilles tendon oil cylinder 8 is fixed to the imitation metatarsal connecting rod 14 through the fifth hinge point 13. The lower end of the imitation metatarsal connecting rod 14 is connected to the road wheel 16 through the sixth hinge point 15. The lower end track 17 supports the road wheel 16 for movement. The movements of the various components are coordinated like a rhino running and a kangaroo jumping, thereby maintaining the movement stability of the vibration reduction system.

[0051] Working process of the present invention:

[0052] When the vehicle is stationary, the vehicle body is displaced downward by its own gravity, and the frame 1 compresses the femoral adductor muscle oil cylinder 4. At this time, the first electronic control unit 3 adjusts the damping hole opening of the femoral adductor muscle oil cylinder 4 through the control valve according to the received vehicle body displacement and vehicle body downward movement speed, acceleration and other signals, thereby changing its stiffness and damping, and driving the tibial connecting rod 5 to rotate around the third hinge point 10 under the constraint of the first ring-type limit groove 7. At the same time, the second hinge point 6 moves the Achilles tendon oil cylinder 8 downward, and the second electronic control unit According to the received vehicle displacement, vehicle downward speed, acceleration and other signals, the control valve is used to adjust the damping hole opening of the Achilles tendon oil cylinder 8, thereby changing its stiffness and damping. When the frame 1 moves downward as a whole, the road wheel 16 rotates around the fourth hinge point 12 under the drive of the metatarsal connecting rod 14 and the constraint of the second annular limit groove 11. During the whole process, the electronic control units 3 and 9 independently adjust the stiffness and damping of the femoral adductor muscle oil cylinder 4 and the Achilles tendon oil cylinder 8, respectively, thereby attenuating the vibration of the vehicle body to achieve vehicle body stability.

[0053] When the vehicle body is driving smoothly, the lower track 17 makes the road wheel 16 bounce up and down, and the vibration is transmitted to the simulated metatarsal connecting rod 14 through the sixth hinge point 15. At this time, the simulated metatarsal connecting rod 14 rotates around the fourth hinge point 12 under the constraint of the second annular limit groove 11. At the same time, the control center adjusts the suspension actuator simulated Achilles tendon oil cylinder 8 in real time through the second electronic control unit 9 according to the vehicle body height, vehicle speed, steering angle, braking and other signals, thereby changing the stiffness and damping force of the simulated Achilles tendon oil cylinder 8, so that it can adaptively absorb the vibration transmitted through the fifth hinge point 13 and move upward like the Achilles tendon of a rhinoceros or kangaroo, and then move upward through the sixth hinge point 15. The second hinge point 6 drives the simulated tibial connecting rod 5 to rotate around the third hinge point 10 under the constraint of the first annular limit groove 7. After the simulated femoral adductor muscle oil cylinder 4 receives the vehicle body height, vehicle speed, steering angle, braking and other signals transmitted by the second hinge point 6, the first electronic control unit 3 adjusts the damping hole opening of the simulated femoral adductor muscle oil cylinder 4 through the control valve according to the received signal, thereby changing its stiffness and damping, alleviating vibration and being compressed while rotating around the first hinge point 2. At this time, the suspension dynamic stroke is small, and the two electronic control units adaptively adjust the suspension system and act as soft suspension for buffering to improve comfort.

[0054] When the vehicle body is subjected to a severe impact, the lower track 17 provides an upward impact force to the road wheel 16, and the impact force is transmitted to the simulated metatarsal connecting rod 14 through the sixth hinge point 15. At this time, the simulated metatarsal connecting rod 14 rotates around the fourth hinge point 12 under the constraint of the second annular limit groove 11. At the same time, the control center adjusts the suspension actuator simulated Achilles tendon oil cylinder 8 in real time through the second electronic control unit 9 according to the vehicle body height, vehicle speed, steering angle, braking and other signals, thereby changing the stiffness and damping force of the simulated Achilles tendon oil cylinder 8 as described above, so that it can adaptively absorb the huge impact force transmitted through the fifth hinge point 13 and move upward like the Achilles tendon of a rhinoceros or kangaroo, and drive the simulated tibial connecting rod 5 to rotate around the third hinge point 10 through the second hinge point 6 under the constraint of the first annular limit groove 7. Rotation, after the femoral adductor muscle oil cylinder 4 receives the vehicle body height, vehicle speed, steering angle, braking and other signals transmitted from the second hinge point 6, the first electronic control unit 3 adjusts the damping hole opening of the femoral adductor muscle oil cylinder 4 through the control valve, thereby changing its stiffness and damping, alleviating the impact force and being compressed while rotating around the first hinge point 2. At this time, the suspension dynamic stroke is large, and the two electronic control units adaptively adjust the oil cylinder and act as a hard suspension to avoid exceeding the dynamic stroke, and then absorb the impact force generated by the road surface as strongly as the rhino femoral adductor muscle, thereby achieving the effect of adaptive vibration reduction when the carrier platform is impacted in extremely complex disaster terrains in all disaster areas such as earthquakes, waters, mountains, nuclear and biological chemicals, polar snow areas (-40℃) and high altitudes (4500 meters).

[0055] Implementation principle of neural network control:

[0056] The equivalent force is obtained from the working process of the suspension system

[0057]

[0058] where F f is the equivalent force of vibration reduction, z c is the vehicle displacement, is the vertical velocity of the vehicle body, z w is the displacement of the road wheel, is the vertical speed of the road wheel, k f is the stiffness coefficient of the vibration reduction system, C f is the damping coefficient of the vibration reduction system, f f Input for the control unit.

[0059] Designing Error Variables Using Virtual Control

[0060]

[0061] z2=x2-a1

[0062] x1, x2, x3, x4 are equal to z c , z w , x d is a state variable, is the filter signal shifted by x3, a1 is about ζ, x3, The function of

[0063]

[0064]

[0065] and

[0066]

[0067] At this time, x2 is a virtual input. In order to stabilize the vehicle system, feedback control can be used.

[0068]

[0069] Where c1 is the positive design constant; It is about ζ, x3, An unknown smooth function of .

[0070] make represents f f The uncertainty of

[0071]

[0072] By neural network W T S(Z) to approximate h(Z), then f f It can be expressed as

[0073] f f =-c1z1-W *T SZ-ε

[0074] W * is an ideal constant weight, where W * Unknown, and z2=x2-a1, and

[0075]

[0076] in Represents the estimated value of the neural network weights.

[0077] Available

[0078]

[0079] in express and W * The error between .

[0080] By the candidate Lyapunov function

[0081]

[0082] Its derivative

[0083] The adaptive control law is

[0084]

[0085] Where σ>0 and Γ=Γ T >0 is a design constant,

[0086] Let c1 = c 10 +c 11 , where c 10 and c 11 >0, then

[0087]

[0088] After squaring, we get

[0089]

[0090]

[0091] From the above, we can see

[0092]

[0093] Lemma 1

[0094]

[0095] e(t)=x(t)-x d (t); Q(t)=Q T (t)>0;Γ(t)=Γ T (t)>0

[0096] According to Lemma 1, under bounded initial conditions, all z i and is uniformly bounded, so by choosing an appropriate value of v, we can achieve the goal of improving comfort.

Claims

1. A bionic adaptive vibration reduction system for a high-mobility transport platform, comprising a frame (1), characterized in that: The upper end of the imitation femoral adductor oil cylinder (4), the lower end of the imitation tibial connecting rod (5) and the upper end of the imitation metatarsal connecting rod (14) are hinged on the frame (1); the lower end of the imitation femoral adductor oil cylinder (4), the upper end of the imitation tibial connecting rod (5) and the upper end of the imitation Achilles tendon oil cylinder (8) are hinged at a first movable hinge point (6); the lower end of the imitation Achilles tendon oil cylinder (8) is hinged at a second movable hinge point (13) on the imitation metatarsal connecting rod (14); the hinge point of the upper end of the imitation femoral adductor oil cylinder (4) on the frame (1) is a first fixed hinge point (2); the first fixed hinge point (2) is higher than the first movable hinge point (6); the first movable hinge point (6) is The hinge point (6) is higher than the hinge point at the lower end of the simulated tibial connecting rod (5), and the hinge point at the lower end of the simulated tibial connecting rod (5) coincides with or is higher than the hinge point at the upper end of the simulated metatarsal connecting rod (14); the upper end of the simulated tibial connecting rod (5) is provided with a first annular limiting groove (7), the first annular limiting groove (7) cooperates with a pin fixed on the frame (1) to limit the swing amplitude of the simulated tibial connecting rod (5); the upper end of the simulated metatarsal connecting rod (14) is provided with a second annular limiting groove (11), the second annular limiting groove (11) cooperates with a pin fixed on the frame (1) to limit the swing amplitude of the simulated metatarsal connecting rod (14).

2. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 1 is characterized by: The metatarsal-simulating connecting rod (14) is a bent structure, the second movable hinge point (13) is located at the inflection point, and the lower end of the metatarsal-simulating connecting rod (14) is provided with a third movable hinge point (15) and is hingedly mounted with a road wheel (16).

3. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 1 or 2, characterized in that: A control unit is installed on the femoral adductor muscle imitation oil cylinder (4) and the Achilles tendon imitation oil cylinder (8), and the stiffness and damping of the oil cylinder are adjusted by the control unit.

4. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 3 is characterized in that Control method: The control unit obtains the vibration amplitude of the frame through the sensor and adjusts the stiffness and damping of the oil and gas cylinder according to the vibration amplitude.

5. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 4 is characterized in that: The vertical displacement of the frame and the vertical displacement of the wheel are detected by sensors, and the difference between the two is used as the vibration amplitude of the frame. The larger the vibration amplitude, the greater the stiffness and damping of the oil and gas cylinder.

6. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 5 is characterized by: The vertical acceleration of the frame and the vertical displacement of the wheel are detected, and the difference between the two is used as the basis for adjusting the stiffness and damping of the oil and gas cylinder.

7. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 6 is characterized by: The neural network algorithm is used to calculate the adjustment amount of the control unit on the oil and gas cylinder stiffness and damping under different vibration amplitudes.

8. The bionic adaptive vibration reduction system for a high mobility carrier platform according to claim 4 is characterized by: The control unit stores the adjustment values ​​corresponding to different frame vibration amplitudes under different terrain conditions, and adjusts the opening of the damping hole in the oil cylinder according to the current terrain and frame vibration amplitude.

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