A method, device, medium, and product for active vibration control of a ground mobile platform.

Abstract

This invention discloses a method, device, medium, and product for active vibration control of a ground mobile platform, relating to the field of ground mobile platform control. The method includes: constructing a whole-vehicle active vibration reduction model based on the dimensional and dynamic parameters of the ground mobile platform; determining the dynamic characteristic model of the actuator using motor torque experiments; determining an ideal seven-degree-of-freedom vertical model as the standard vibration reduction reference model based on the whole-vehicle active vibration reduction model; introducing the dynamic characteristic model into the state-space expression of the standard vibration reduction reference model to obtain an optimized vibration reduction reference model; constructing a model reference adaptive controller based on the control algorithm and the optimized vibration reduction reference model, and controlling the ground mobile platform through the model reference adaptive controller. This invention achieves active vibration control of a ground mobile platform based on actuator characteristics, which can improve the accuracy and rationality of active vibration control of ground mobile platforms.

Description

Technical Field

[0001] This invention relates to the field of ground mobile platform control, and in particular to a method, device, medium, and product for active vibration control of ground mobile platforms. Background Technology

[0002] To address the vibration control problem of ground mobile platforms, the platform is typically represented as an ideal seven-DOF model for direct control (e.g., CN202311137741.X, CN202311456475.7). However, ground mobile platforms that are not vehicle suspension types or involve spatial relationships cannot be simply simplified to an ideal seven-DOF model. To address this, existing technologies use the ideal seven-DOF model as a reference model based on the platform's kinematics and dynamics, controlling the vibration of the ground mobile platform by having the platform track the behavior of the reference model (e.g., CN202111024742.4, CN202311524645.0). However, the actual characteristics of the actuators cause the platform to be unable to keep up with the control of the reference model. Errors exist between the actuator control commands and actual outputs due to time delays and overshoot. When these errors are too large, the model may diverge. Summary of the Invention

[0003] The purpose of this invention is to provide a method, device, medium, and product for active vibration control of ground mobile platforms. Based on the characteristics of actuators, active vibration control of ground mobile platforms is achieved, which can improve the accuracy and rationality of active vibration control of ground mobile platforms.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A method for active vibration control of a ground mobile platform includes:

[0006] Based on the dimensional and dynamic parameters of the ground mobile platform, a vehicle active vibration reduction model is constructed.

[0007] The dynamic characteristic model of the actuator was determined by using motor torque experiments;

[0008] Based on the vehicle active vibration reduction model, the ideal seven-degree-of-freedom vertical model is determined as the standard vibration reduction reference model;

[0009] By incorporating the dynamic characteristic model into the state-space expression of the standard vibration reduction reference model, an optimized vibration reduction reference model is obtained.

[0010] A model reference adaptive controller is constructed based on the control algorithm and the optimized vibration reduction reference model, and the ground mobile platform is controlled by the model reference adaptive controller.

[0011] Where, m w1 For the first tire mass, Let C be the vertical acceleration of the first tire's center of mass. s1 The first tire damping coefficient, The vertical velocity at the first corner of the vehicle body. Let k be the vertical velocity of the first tire's center of mass. s1 Let x be the first spring stiffness, xb1 be the vertical displacement of the first corner of the vehicle body, and x w1 k represents the vertical displacement of the first tire's center of mass. t1 For the first tire stiffness, x g1 For the road surface excitation at the first tire, m w2 For the second tire mass, Let C be the vertical acceleration of the second tire's center of mass. s2 This is the second tire damping coefficient. The vertical velocity at the second corner of the vehicle body. Let k be the vertical velocity of the second tire's center of mass. s2 For the second spring stiffness, x b2 x represents the vertical displacement of the second corner of the vehicle body. w2 k represents the vertical displacement of the second tire's center of mass. t2 For the second tire stiffness, x g2 For the road surface excitation at the second tire, m w3 For the third tire mass, Let C be the vertical acceleration of the third tire's center of mass. s3 The third tire damping coefficient, The vertical velocity at the third corner of the vehicle body. Let k be the vertical velocity of the third tire's center of mass. s3 For the third spring stiffness, x b3 x represents the vertical displacement of the third corner of the vehicle body. w3 k represents the vertical displacement of the third tire's center of mass. t3 For the third tire stiffness, x g3 For the road surface excitation at the third tire, m w4 For the fourth tire mass, Let C be the vertical acceleration of the fourth tire's center of mass. s4 The fourth tire damping coefficient, The vertical velocity at the fourth corner of the vehicle body. Let k be the vertical velocity of the fourth tire's center of mass. s4 For the fourth spring stiffness, x b4 x represents the vertical displacement of the fourth corner of the vehicle body. w4 k represents the vertical displacement of the fourth tire's center of mass. t4 For the fourth tire stiffness, x g4 The road surface excitation is at the fourth tire, and M0 is the vehicle mass. Let C be the acceleration of the sprung mass. sj Let j be the damping coefficient of the j-th tire. Let be the vertical velocity of the center of mass of the j-th tire. Let k be the vertical velocity of the vehicle body at the j-th corner. sj Let x be the stiffness of the j-th spring. wj Let x be the vertical displacement of the center of mass of the j-th tire. bj Let I be the vertical displacement of the j-th corner of the vehicle body. θ The moment of inertia is the tilting motion. Let B be the roll acceleration and B be the wheelbase. For pitch rotation inertia, Let be the pitch acceleration, b be the distance from the center of mass to the rear axis, and C be the acceleration due to pitch. sj1 Let j1 be the damping coefficient of the j1th tire. Let j1 be the vertical velocity of the center of mass of the j1th tire. Let k be the vertical velocity of the vehicle body at the j-th corner. sj1 Let x be the stiffness of the j1th spring. wj1 Let x be the vertical displacement of the center of mass of the j1th tire. bj1 Let C be the vertical displacement of the j-th corner of the vehicle body, a be the distance from the center of mass to the front axle, and C be the vertical displacement of the vehicle body. sj2 Let j2 be the damping coefficient of the second tire. Let j2 be the vertical velocity of the center of mass of the second tire. Let k be the vertical velocity of the vehicle body at the j-th corner. sj2 Let x be the stiffness of the j2th spring. wj2 Let x be the vertical displacement of the center of mass of the j2th tire. bj2 Let be the vertical displacement of the j-th corner of the vehicle body.

[0012] Optionally, the dynamic characteristic model is:

[0013]

[0014] Among them, u a ω is the actual output of the actuator. c Both ξ and u are parameters to be determined, which are obtained by fitting the experimental results of the motor torque; r is the reference torque of the actuator; s is a complex variable.

[0015] Optionally, the standard vibration reduction reference model is:

[0016]

[0017] A is the differential of the state vector. m Given the state matrix, B m For the control matrix, x m This is the state vector.

[0018] Optionally, the state-space expression of the standard vibration reduction reference model, which incorporates the dynamic characteristic model, is as follows:

[0019]

[0020] Where θ is the roll angle. x is the pitch angle. b The displacement of the spring mass; Let u be the velocity of the sprung mass. a1 The actual output of the first tire actuator, u a2 The actual output of the second tire actuator, u a3 For the actual output of the third tire actuator, u a4 This is the actual output of the fourth tire actuator. The derivative of the actual output of the first tire actuator. The derivative of the actual output of the second tire actuator. The derivative of the actual output of the third tire actuator. This is the derivative of the actual output of the fourth tire actuator.

[0021] A computer device includes: a memory and a processor for storing a computer program on the memory and executable on the processor, the processor executing the computer program to implement the above-described method for active vibration control of a ground mobile platform.

[0022] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for active vibration control of a ground mobile platform.

[0023] A computer program product includes a computer program that, when executed by a processor, implements the above-described active vibration control method for a ground mobile platform.

[0024] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0025] This invention provides a method, device, medium, and product for active vibration control of ground mobile platforms. By establishing a kinematic and dynamic model of the ground mobile platform and considering the dynamic characteristics of the actuators, a vibration reduction reference model of the platform is constructed, and an active vibration controller based on the model reference is built. This control framework and method can be extended to all ground mobile platforms. Compared with traditional methods, it can more effectively suppress the vibration of ground mobile platforms, and the consideration of actuator characteristics in the controller further improves the robustness of the controller. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic flowchart of an active vibration control method for a ground mobile platform provided in Embodiment 1 of the present invention;

[0028] Figure 2 This is a schematic diagram of the active vibration control principle of a ground mobile platform provided in Embodiment 1 of the present invention;

[0029] Figure 3 This is a diagram of the active vibration reduction system for a ground mobile platform provided in Embodiment 1 of the present invention;

[0030] Figure 4 This is a diagram of the motor torque experimental device provided in Embodiment 1 of the present invention;

[0031] Figure 5 This is a comparison diagram of the control commands and the output of the second-order model provided in Embodiment 1 of the present invention;

[0032] Figure 6 This is a design flowchart of a model control reference system considering the dynamic characteristics of actuators, provided in Embodiment 1 of the present invention.

[0033] Figure 7 The design flowchart of the model reference adaptive controller provided in Embodiment 1 of the present invention is shown. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The purpose of this invention is to provide a method, device, medium, and product for active vibration control of ground mobile platforms. Based on the characteristics of actuators, active vibration control of ground mobile platforms is achieved, which can improve the accuracy and rationality of active vibration control of ground mobile platforms.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Example 1

[0038] Actuator: A device that generates active control force according to control commands. Actuator characteristics: During the process of generating control force, due to factors such as signal delay and mechanical structure, there exists a dynamic relationship between the control command and the actual output control force; this is called the actuator's dynamic characteristic. Ground mobile platform: A type of mechanical or electronic equipment, such as vehicles or other transport equipment, capable of rapid movement on the ground to transport personnel or goods. Active vibration control: During platform movement, active actuators apply control force to the platform to suppress the negative vibration effects caused by uneven road surfaces.

[0039] like Figure 1 As shown in this embodiment, a method for active vibration control of a ground mobile platform includes:

[0040] Step 101: Construct an active vibration reduction model for the entire vehicle based on the dimensional and dynamic parameters of the ground mobile platform.

[0041] Step 102: Determine the dynamic characteristic model of the actuator using a motor torque experiment.

[0042] Step 103: Based on the vehicle active damping model, determine the ideal seven-degree-of-freedom vertical model as the standard damping reference model.

[0043] Step 104: Introduce the dynamic characteristic model into the state-space expression of the standard vibration reduction reference model to obtain the optimized vibration reduction reference model.

[0044] Step 105: Construct a model reference adaptive controller based on the control algorithm and the optimized vibration reduction reference model, and control the ground mobile platform through the model reference adaptive controller.

[0045] The whole vehicle active damping model is as follows:

[0046]

[0047] Where, m w1 For the first tire mass, Let C be the vertical acceleration of the first tire's center of mass. s1 The first tire damping coefficient, The vertical velocity at the first corner of the vehicle body. Let k be the vertical velocity of the first tire's center of mass. s1 Let x be the first spring stiffness. b1 x represents the vertical displacement of the first corner of the vehicle body. w1 k represents the vertical displacement of the first tire's center of mass. t1 For the first tire stiffness, x g1 For the road surface excitation at the first tire, m w2 For the second tire mass, Let C be the vertical acceleration of the second tire's center of mass. s2 This is the second tire damping coefficient. The vertical velocity at the second corner of the vehicle body. Let k be the vertical velocity of the second tire's center of mass. s2 For the second spring stiffness, x b2 x represents the vertical displacement of the second corner of the vehicle body. w2 k represents the vertical displacement of the second tire's center of mass. t2 For the second tire stiffness, x g2 For the road surface excitation at the second tire, m w3 For the third tire mass, Let C be the vertical acceleration of the third tire's center of mass. s3 The third tire damping coefficient, The vertical velocity at the third corner of the vehicle body. Let k be the vertical velocity of the third tire's center of mass. s3 For the third spring stiffness, x b3 x represents the vertical displacement of the third corner of the vehicle body. w3 k represents the vertical displacement of the third tire's center of mass. t3 For the third tire stiffness, x g3 For the road surface excitation at the third tire, m w4 For the fourth tire mass, Let C be the vertical acceleration of the fourth tire's center of mass. s4 The fourth tire damping coefficient, The vertical velocity at the fourth corner of the vehicle body. Let k be the vertical velocity of the fourth tire's center of mass. s4 For the fourth spring stiffness, x b4 x represents the vertical displacement of the fourth corner of the vehicle body. w4 k represents the vertical displacement of the fourth tire's center of mass. t4 For the fourth tire stiffness, x g4 The road surface excitation is at the fourth tire, and M0 is the vehicle mass. Let C be the acceleration of the sprung mass. sj Let j be the damping coefficient of the j-th tire. Let be the vertical velocity of the center of mass of the j-th tire. Let k be the vertical velocity of the vehicle body at the j-th corner. sj Let x be the stiffness of the j-th spring. wj Let x be the vertical displacement of the center of mass of the j-th tire. bj Let I be the vertical displacement of the j-th corner of the vehicle body. θ The moment of inertia is the tilting motion. Let B be the roll acceleration and B be the wheelbase. For pitch rotation inertia, Let be the pitch acceleration, b be the distance from the center of mass to the rear axis, and C be the acceleration due to pitch. sj1 Let j1 be the damping coefficient of the j1th tire. Let j1 be the vertical velocity of the center of mass of the j1th tire. Let k be the vertical velocity of the vehicle body at the j-th corner. sj1 Let x be the stiffness of the j1th spring. wj1 Let x be the vertical displacement of the center of mass of the j1th tire. bj1 Let C be the vertical displacement of the j-th corner of the vehicle body, a be the distance from the center of mass to the front axle, and C be the vertical displacement of the vehicle body. sj2 Let j2 be the damping coefficient of the second tire. Let j2 be the vertical velocity of the center of mass of the second tire. Let k be the vertical velocity of the vehicle body at the j-th corner. sj2 Let x be the stiffness of the j2th spring. wj2 Let x be the vertical displacement of the center of mass of the j2th tire. bj2 Let be the vertical displacement of the j-th corner of the vehicle body.

[0048] The dynamic characteristic model is as follows:

[0049]

[0050] Among them, u a ω is the actual output of the actuator. c Both ξ and u are parameters to be determined, and are determined by fitting the experimental results of the motor torque. r is the reference torque of the actuator; s is a complex variable.

[0051] The standard vibration reduction reference model is:

[0052]

[0053] in, A is the differential of the state vector. m Given the state matrix, B m For the control matrix, x m This is the state vector.

[0054] The state-space expression of the standard vibration reduction reference model, which incorporates dynamic characteristic models, is as follows:

[0055]

[0056] Where θ is the roll angle. x is the pitch angle. b The displacement of the spring mass; Let u be the velocity of the sprung mass. a1 The actual output of the first tire actuator, u a2 The actual output of the second tire actuator, u a3 For the actual output of the third tire actuator, u a4 This is the actual output of the fourth tire actuator. The derivative of the actual output of the first tire actuator. The derivative of the actual output of the second tire actuator. The derivative of the actual output of the third tire actuator. This is the derivative of the actual output of the fourth tire actuator.

[0057] The specific design steps are as follows: Figure 2 :

[0058] Vehicle Active Vibration Reduction System: This invention performs kinematic and dynamic analysis on the mechanical structure of a ground-based mobile platform to determine the system's dimensional and dynamic parameters, thereby completing the construction of the vehicle's dynamic model.

[0059] Actuator dynamic characteristics: First, the dynamic characteristics of the actuator are analyzed and relevant characteristic tests are conducted. Second, characteristic modeling is performed based on the relationship between the control command signal and the actual output signal of the actuator. Finally, the model parameters are optimized to obtain the optimal actuator characteristic model.

[0060] Model control reference system: First, a vibration reduction reference model is constructed, using an ideal seven-degree-of-freedom model as the standard vibration reduction reference model. Second, the actuator characteristic model is added to the reference model, and the state-space expression of the reference model is established using the characteristic model as the state variable, thus obtaining an optimized vibration reduction reference model that considers the dynamic characteristics of the actuator. Finally, the optimized vibration reduction model is controlled by a control algorithm.

[0061] Model Reference Adaptive Controller: First, based on the correlation between the optimized damping reference model and the vehicle active damping model, the vehicle active damping model is represented by the system matrix of the state expression of the optimized damping reference model. Second, a reference matrix containing the actuator dynamic characteristics is defined based on the vehicle active damping model. Finally, the reference matrix obtains the values ​​of unknown quantities based on the known actuator dynamic characteristics, thereby deriving the state feedback adaptive control law. The calculated control input signal is then fed into the vehicle active damping model for control. Figure 2 The specific process is described below, outlining the implementation steps of a ground mobile platform vibration active control framework and method that considers actuator characteristics:

[0062] Step 1: Build the vehicle's active damping system.

[0063] Taking a ground-based mobile platform as an example, kinematic and dynamic analyses are performed on the platform, and an active vibration reduction model for the entire vehicle is built, such as... Figure 3 As shown.

[0064] Building this model requires determining the system's dimensional and dynamic parameters. The method for establishing these parameters is as follows: For the vehicle's active damping model, its main parameters are defined as the vehicle mass M0 and the masses of the four tires m0. w1m w2 m w3 m w4 Wheelbase B, distances a and b from the center of gravity to the front and rear axles, and spring stiffness k. s Damping coefficient C s Tire stiffness k t Vertical displacement of the center of mass x b Vertical displacement x at the four corners of the vehicle body b1 x b2 x b3 x b4 Vertical displacement of the center of mass of the four tires x w1 x w2 x w3 x w4 Road surface excitation at four tire locations x g1 x g2 x g3 x g4 Pitch angle Assuming the vehicle body is a rigid body with relatively small values ​​for the center of mass motion, roll angle, and pitch angle, the overall vehicle active damping model is as follows:

[0065]

[0066] Step 2: Determine the dynamic characteristics of the actuator.

[0067] In controllable suspension vibration reduction control, electric motors are a common type of active actuating element. This scheme takes a specific motor as an example and determines the dynamic characteristics of the actuator through motor torque experiments. The experimental setup is as follows: Figure 4 As shown.

[0068] In the experiment, the motor output shaft and the magnetic powder brake were coaxially connected to the torque sensor. The magnetic powder brake was powered by a constant current source to provide a consistent braking torque. After receiving control commands from the host computer, the motor generated torque on the shaft. Subsequently, the torque sensor captured and transmitted the output torque to the data acquisition unit. The dynamic characteristics of the torque actuator were described using a second-order model.

[0069]

[0070] In the formula u r and u a These are the reference torque and actual output of the actuator, ω. c ξ and ξ are parameters that need to be determined. Under the command of a square wave signal, the output torque is compared with the output curve of the second-order model, such as... Figure 5 A time delay and overshoot were observed in the actuator between the control command and the actual output. For parameter ω... c By optimizing ξ, the optimal second-order model is finally obtained to accurately describe the dynamic characteristics of the motor actuator.

[0071] Step 3: Build the model control reference system.

[0072] like Figure 6 An ideal seven-degree-of-freedom vertical model is used as the standard vibration reduction reference model, and it is described in the form of a state-space expression.

[0073]

[0074] Among them, A m Given the state matrix, B m For the control matrix, u r To control the input, the state vector x m Described as:

[0075]

[0076] Using the characteristic model as the state variable, establish the state-space expression of the reference model, and define the state vector x. m Described as:

[0077]

[0078] Where u a To take into account the actual control output after considering the dynamic characteristics of the actuator, the optimized vibration reduction reference model is controlled by a control algorithm.

[0079] Step 4: Model reference adaptive controller design, such as... Figure 7 .

[0080] Based on the state-space expression of the optimized vibration reduction reference model Obtain its state matrix A m and control matrix B m The state space of the vehicle active damping model is written as:

[0081]

[0082] Where A is the state matrix, B is the control matrix, and Θ *T Let be an unknown constant vector, Φ(x) be a known bounded basis function, and u be the control input. To design the reference control law, it is assumed that there exists a matrix K that satisfies the model matching condition. x and k r Make in and Given the initial estimation matrices of A and B, the following can be calculated: set up and To estimate the error, the controlled model can be written as:

[0083]

[0084] The control input u of the state feedback adaptive controller is:

[0085] u=K x x+k r u r -Θ T Φ(x).

[0086] Where, Θ T To measure the actuator characteristics, the control input u is fed into the vehicle's active vibration reduction model, allowing control of the ground-based mobile platform to be achieved using this control framework and method.

[0087] This invention constructs a vibration reduction reference model that considers the dynamic characteristics of the actuator. Based on the standard reference model, the dynamic characteristics of the actuator are analyzed, a mathematical model is established according to the relationship between the control command and the actual output, the actual output of the actuator is used as the state variable to establish the state space expression of the reference model, and a delay is added to the reference model so that the platform can more accurately track the behavior of the reference model.

[0088] Example 2

[0089] A computer device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a ground mobile platform vibration active control method as described in Embodiment 1.

[0090] Example 3

[0091] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a ground mobile platform vibration active control method as described in Embodiment 1.

[0092] Example 4

[0093] A computer program product includes a computer program that, when executed by a processor, implements an active vibration control method for a ground mobile platform as described in Embodiment 1.

[0094] Example 5

[0095] A computer device, which may be a database, includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores pending transactions. The I / O interfaces facilitate information exchange between the processor and external devices. The communication interface allows communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a ground mobile platform vibration active control method as described in Embodiment 1.

[0096] It should be noted that the object information (including but not limited to object device information, object personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this invention are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0097] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided by this invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided by this invention may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided by this invention may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0098] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for active vibration control of a ground mobile platform, characterized in that, The application relates to a ground mobile platform vibration active control method. According to the size parameters and dynamic parameters of the ground mobile platform, a whole-vehicle active damping model is constructed; The whole-vehicle active damping model is: ； wherein, is a first tire mass, is a first tire mass center vertical acceleration, is a first tire damping coefficient, is a vehicle body first corner vertical velocity, is a first tire mass center vertical velocity, is a first spring rate, is a vehicle body first corner vertical displacement, is a first tire mass center vertical displacement, is a first tire rate, is a road excitation at the first tire, is a second tire mass, is a second tire mass center vertical acceleration, is a second tire damping coefficient, is a vehicle body second corner vertical velocity, is a second tire mass center vertical velocity, is a second spring rate, is a vehicle body second corner vertical displacement, is a second tire mass center vertical displacement, is a second tire rate, is a road excitation at the second tire, is a third tire mass, is a third tire mass center vertical acceleration, is a third tire damping coefficient, is a vehicle body third corner vertical velocity, is a third tire mass center vertical velocity, is a third spring rate, is a vehicle body third corner vertical displacement, is a third tire mass center vertical displacement, is a third tire rate, is a road excitation at the third tire, is a fourth tire mass, is a fourth tire mass center vertical acceleration, is a fourth tire damping coefficient, is a vehicle body fourth corner vertical velocity, is a fourth tire mass center vertical velocity, is a fourth spring rate, is a vehicle body fourth corner vertical displacement, is a fourth tire mass center vertical displacement, is a fourth tire rate, is a road excitation at the fourth tire, is a vehicle mass, is a sprung mass acceleration, Cj is the jth tire damping coefficient, Vzj is the jth corner vertical velocity of the vehicle body, Vzj is the jth corner vertical velocity of the vehicle body, Kj is the jth spring rate, Zj is the jth tire center vertical displacement, Zj is the jth corner vertical displacement of the vehicle body, Iroll is the roll moment of inertia, θroll is the roll angular acceleration, Tt is the tire track, Ipitch is the pitch moment of inertia, θpitch is the pitch angular acceleration, Lr is the distance of the center of mass to the rear axle, Cj is the jth tire damping coefficient, Vzj is the jth corner vertical velocity of the vehicle body, Vzj is the jth corner vertical velocity of the vehicle body, Kj is the jth spring rate, Zj is the jth tire center vertical displacement, Zj is the jth corner vertical displacement of the vehicle body, Lr is the distance of the center of mass to the rear axle, Cj is the jth tire damping coefficient, Vzj is the jth corner vertical velocity of the vehicle body, Vzj is the jth corner vertical velocity of the vehicle body, Kj is the jth spring rate, Zj is the jth tire center vertical displacement, Zj is the jth corner vertical displacement of the vehicle body, The dynamic characteristic model of the actuator is determined by using a motor torque experiment; According to the whole-vehicle active damping model, an ideal seven-degree-of-freedom vertical model is determined as a standard damping reference model; The dynamic characteristic model is introduced into the state space expression of the standard damping reference model to obtain an optimized damping reference model; A model reference self-adaptive controller is constructed based on the control algorithm and the optimized damping reference model, and the ground mobile platform is controlled through the model reference self-adaptive controller.

2. The vibration active control method of a ground mobile platform according to claim 1, characterized in that, The dynamic characteristic model is: ； wherein, is the actual output of the actuator, and are parameters to be determined by fitting the experimental results of the motor torque; is the reference torque of the actuator; s is a complex variable.

3. The vibration active control method of a ground mobile platform according to claim 2, characterized in that, The standard damping reference model is: ； wherein, is the differential of the state vector, is the known state matrix, is the control matrix, is the state vector.

4. The vibration active control method of a ground moving platform according to claim 3, characterized in that, The state space expression of the standard damping reference model with the dynamic characteristic model introduced is: ； wherein, is a roll angle, is a pitch angle, is a sprung mass displacement; is a sprung mass velocity, is an actual output of the first tire actuator, is an actual output of the second tire actuator, is an actual output of the third tire actuator, is an actual output of the fourth tire actuator, is a derivative of the actual output of the first tire actuator, is a derivative of the actual output of the second tire actuator, is a derivative of the actual output of the third tire actuator, is a derivative of the actual output of the fourth tire actuator.

5. A computer apparatus comprising: The memory and the processor are used to store a computer program stored on the memory and executable on the processor, and the processor executes the computer program to realize the ground mobile platform vibration active control method in any one of claims 1-4.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the ground mobile platform vibration active control method in any one of claims 1-4.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the ground mobile platform vibration active control method in any one of claims 1-4.

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