The invention belongs to the technical field of wind power blade transportation, and particularly relates to a preview-based iterative learning control method for an active suspension of a fan blade transport vehicle, which comprises the following steps of: S1, performing preview identification on a driving road surface of the fan blade transport vehicle to obtain a pre-adjusting quantity and an adjusting moment of the active suspension; s2, determining the driving state of the fan blade transport vehicle, and establishing a whole vehicle suspension system dynamic model; s3, determining a vehicle body tracking error of the fan blade transport vehicle under the current iteration, and controlling an active suspension of the fan blade transport vehicle by using an iterative learning control method; and S4, adopting a double-input single-output control strategy to complete active suspension control of the fan blade transport vehicle, and keeping the vehicle body stable in the transportation process. Road surface information is determined by adopting a preview recognition technology, a corresponding control strategy is executed according to the road surface condition, and active regulation and control of the suspension are achieved; an iterative learning control method is adopted, the vehicle body tends to be in a balance state in the transportation process, and good robustness is achieved.
本发明属于风电叶片运输技术领域,具体涉及一种基于预瞄的风机叶片运输车主动悬架迭代学习控制方法,包括:S1、对风机叶片运输车的行驶路面进行预瞄识别,得到主动悬架预调节量及调整时刻;S2、确定风机叶片运输车的行驶状态,并建立整车悬架系统动力学模型;S3、确定风机叶片运输车在当前迭代下的车身跟踪误差,使用迭代学习控制方法控制风机叶片运输车主动悬架;S4、采用双输入单输出的控制策略完成风机叶片运输车的主动悬架控制,保持运输过程中车身稳定。本发明采用预瞄识别技术确定路面信息,针对路面情况执行对应控制策略,实现悬架主动调控;采用迭代学习控制方法,在运输过程中,使车身趋于平衡状态,具有很好的鲁棒性。
Previewing-based iterative learning control method for active suspension of fan blade transport vehicle
基于预瞄的风机叶片运输车主动悬架迭代学习控制方法
2024-09-27
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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