【摘要】 针对某型六轴特种车辆改善行驶平顺性并保障其任务用途的要求，文中建立了半车主动悬架多体系统动力学模型.以自适应理想天棚阻尼悬架为参考，采用模糊切换增益调节的动态滑模理论进行控制器设计；利用观测器进行扰动补偿；并通过李雅普洛夫方法证明闭环系统稳定性.提出一种基于扰动补偿的自适应模糊动态滑模控制策略.仿真结果表明，新型多轴车辆主动悬架控制器成功抑制了滑模控制的高频抖振问题，相对于传统控制方法具有更好的性能表现.更多还原

【Abstract】 To improve the riding comfort of the six-axle special vehicle and ensure its task demand, this paper establishes the dynamic model of 1/2 multi-axle vehicle active suspension system, which takes the adaptive ideal sky-hook suspension as the reference model. In addition, the stability of the closed-loop system is proved by the Lyapunov method. An adaptive fuzzy dynamic sliding mode control strategy based on disturbance compensation is proposed. The simulation results show that the design of the new controller successfully reduces the chattering problem of the traditional sliding mode control, and the multi-axle vehicle using the new active suspension control strategy has better performance than the traditional control method.更多还原