Research Article
A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification
Table 5
The input disturbances estimation and the optimization results.
| | Driving conditions | Periods | | 0~5 s | 5~10 s | 10~15 s |
| | Road class | D class | F class | H class | | Speed v/(km⋅h−1) | 60 | 30 | 5 | | RMS value of disturbance (measured/estimated)/(m⋅s−1) | 0.48/0.46 | 0.39/0.38 | 0.27/0.26 | | Estimated frequency (Hz) | 9.5 | 1.8 | 0.8 | | Control mode | Adaptive | Semiactive | Semiactive | | Weighting factor () | | | | | Damping coefficient (kNs/m) | | = 15.1 | = 16.2 | | = 4.52 | = 3.58 | | = 8.75 | = 6.71 |
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