Analytical Evaluation of Generalized Predictive Control Algorithms Using a Full Vehicle Multi-Body Dynamics Model For Mobility Enhancement

ABSTRACT: This paper discusses research conducted by the U.S. Army Research Laboratory (ARL) - Vehicle Technology Directorate (VTD) on advanced suspension control. ARL-VTD has conducted research on advanced<br>suspension systems that will reduce the chassis vibration of ground vehicles while maintaining tire contact with the road surface. The purpose of this research is to reduce vibration-induced fatigue to the Warfighter as well as to improve the target aiming precision in-theater. The objective of this paper was to explore the performance effectiveness of various formulations of the Generalized Predictive Control (GPC) algorithm in a simulation<br>environment. Each version of the control algorithm was applied to an identical model subjected to the same<br>ground disturbance input and compared to a baseline passive suspension system. The control algorithms<br>considered include a GPC with Implicit Disturbances, GPC with Explicit Disturbances, and GPC with Preview<br>Control. A two-axle tactical vehicle with independent front and rear suspensions was modeled in the TruckSim<br>full-vehicle dynamics simulator. The control algorithms were compared based on their effectiveness in controlling peak acceleration and overall average acceleration over a range of vehicle speeds. The algorithms demonstrated significant reductions in the chassis acceleration and pitch of the full-vehicle model. Keywords: Vehicle vibration control, vehicle dynamics simulation, control algorithm, advanced suspension, generalized predictive control.

摘要：本文讨论了美国陆军研究实验室（U.S. Army Research Laboratory, ARL）-车辆技术理事会（Vehicle Technology Directorate, VTD）开展的先进悬挂控制相关研究。ARL-VTD针对先进悬挂系统展开研究，以在维持轮胎与路面良好接触的前提下，降低地面车辆的底盘振动。本研究旨在减轻作战人员因振动引发的疲劳，并提升战区内的目标瞄准精度。本文的核心目标是在仿真环境中探究不同变体的广义预测控制（Generalized Predictive Control, GPC）算法的性能有效性。将各版本控制算法应用于同一模型，施加一致的地面扰动输入，并与基线被动悬挂系统进行性能对比。本次考量的控制算法包括带隐式扰动的GPC、带显式扰动的GPC以及带预瞄控制的GPC。基于TruckSim整车动力学仿真器，构建了搭载独立前后悬挂的双轴战术车辆模型。基于各算法在一系列车速下对峰值加速度与整体平均加速度的控制效果开展对比。实验结果表明，上述算法可显著降低整车模型的底盘加速度与车辆俯仰姿态变化。
关键词：车辆振动控制、车辆动力学仿真、控制算法、先进悬挂、广义预测控制。