液压与气动2026，Vol.50Issue(2)：64-73,10.DOI:10.11832/j.issn.1000-4858.2026.02.007
重载自动地面引导车的自适应模糊神经网络系统补偿式主动油气悬架分层控制研究
Hierarchical Adaptive Neuro Fuzzy Inference System Compensated Control for Heavy-load Automatic Guided Vehicle Active Hydro-pneumatic Suspension
摘要
Abstract
A hierarchical control strategy with adaptive neuro fuzzy inference system compensation is proposed for heavy-duty automatic guided vehicle on unstructured roads.It improves posture control performance under severe nonlinear conditions.The strategy addresses hydro-pneumatic suspension nonlinearity and electromagnetic valve force inaccuracies.The upper layer uses linear quadratic regulator for optimal vertical body control.A fuzzy PID controller suppresses roll motion.Desired active suspension forces are generated.The lower layer applies adaptive neuro fuzzy inference system for force tracking error compensation.It maps force errors to electromagnetic valve control signals.High-precision force tracking is achieved.Simulation results validate the proposed strategy.Under class C road excitation,root mean square vertical and roll accelerations decrease by 30.4%and 38.9%.Under single-side step excitation,peak roll angle decreases by 44%.The strategy shows strong robustness under complex conditions.关键词
重载自动地面引导车/非结构路面/油气悬架/自适应模糊神经网络系统/非线性补偿/AMESim&MATLAB联合仿真Key words
heavy-load automatic guided vehicle/unstructured terrain/hydro-pneumatic suspension/adaptive neuro fuzzy inference system/nonlinear compensation/AMESim&MATLAB co-simulation分类
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李霞,高亚楠,高琳,何涛,刘本学..重载自动地面引导车的自适应模糊神经网络系统补偿式主动油气悬架分层控制研究[J].液压与气动,2026,50(2):64-73,10.基金项目
河南省重点研发及推广(科技攻关)项目(222102210051) （科技攻关）
