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Shock and Vibration
Volume 2017 (2017), Article ID 2741786, 12 pages
Research Article

A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification

Department of Mechanical Engineering, Academy of Armored Forces, Beijing 100072, China

Correspondence should be addressed to Shousong Han

Received 6 June 2017; Revised 31 August 2017; Accepted 17 September 2017; Published 18 October 2017

Academic Editor: Mario Terzo

Copyright © 2017 Shousong Han et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF) suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (, , ) and self-adaptive control gain () under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive), and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.