High ground clearance self-propelled sprayers usually work in complex road conditions. Due to the large body mass, wide spray boom breath and high center of gravity, the body and spray boom swing sharply during work, which affects operation quality and even endangers safety. This paper proposes a control plan for timely-started active hydro-pneumatic suspension, and designs a fuzzy PID control system based on genetic algorithm optimization. First, MATLAB software is used to simulate and analyze the model, so that the fuzzy PID control optimized by genetic algorithm is obtained. When the sprayer drives on D-grade road, as the speed increases, in comparison between the damping effect of the active suspension and traditional passive suspension, the corresponding root mean square value of vehicle body vibration acceleration decreases by 11.36% and 12.36% respectively. On the E-grade road surface, with the increase of speed, the corresponding root mean square value of vehicle body vibration acceleration decreases by 13.25% and 14.89% respectively. Based on indoor bench experiments, the proposed control strategy was verified. Under field road excitation, when the sprayer traveled at 5km/h, the root mean square acceleration values of the passive and active suspensions were 1.080m/s2 and 0.847m/s2, respectively; when the sprayer traveled at 8km/h, the root mean square acceleration values of the passive and active suspensions were 1.412m/s2 and 1.125m/s2 respectively, with the root mean square values of vibration acceleration reduced by 21.57% and 20.33% respectively. Under sand-gravel road condition, when the sprayer traveled at 5km/h, the root mean square acceleration values of the passive and active suspensions were 1.149m/s2 and 0.891m/s2, respectively; when the sprayer traveled at 8km/h, the root-mean-square acceleration values of the passive and active suspensions were 1.572m/s2 and 1.229m/s2, respectively, with the root mean square values of vibration acceleration reduced by 22.45% and 21.82% respectively. During the active control process, the suspension displacement is always kept within the limited range, and as the vehicle speed and road surface level increase, the active suspension has a significantly better damping effect than the passive suspension, which proves effectiveness of the active damping scheme.

中文翻译：

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基于遗传算法优化的喷雾机主动液压气动悬架阻尼控制与试验

高离地间隙自走式喷雾机通常在复杂的路况下工作。由于机体质量大、喷杆呼吸宽、重心高，工作时机体和喷杆摆动剧烈，影响作业质量，甚至危及安全。提出了一种及时启动主动式液气悬架的控制方案，并设计了一种基于遗传算法优化的模糊PID控制系统。首先利用MATLAB软件对模型进行仿真分析，得到遗传算法优化的模糊PID控制。喷雾机在D级路面行驶时，随着车速的增加，主动悬挂与传统被动悬挂的阻尼效果相比，车身振动加速度对应的均方根值分别下降了11.36%和12。分别为 36%。在E级路面上，随着车速的增加，相应的车身振动加速度均方根值分别下降了13.25%和14.89%。基于室内台架实验，验证了所提出的控制策略。在田间道路激励下，喷雾机以5km/h的速度行驶时，被动悬架和主动悬架的均方根加速度值分别为1.080m/s2和0.847m/s2；当喷雾机以8km/h行驶时，被动和主动悬架的均方根加速度值分别为1.412m/s2和1.125m/s2，振动加速度均方根值分别降低了21.57%和20.33% . 在沙砾路面条件下，喷雾机以5km/h的速度行驶时，被动和主动悬架的均方根加速度值分别为1.149m/s2和0.891m/s2；当喷雾机以8km/h行驶时，被动悬架和主动悬架的均方根加速度值分别为1.572m/s2和1.229m/s2，振动加速度均方根值降低了22.45%和分别为 21.82%。在主动控制过程中，悬架位移始终保持在有限范围内，随着车速和路面水平的增加，主动悬架的阻尼效果明显优于被动悬架，证明了主动阻尼方案的有效性. 被动和主动悬架的均方根加速度值分别为1.572m/s2和1.229m/s2，振动加速度均方根值分别降低了22.45%和21.82%。在主动控制过程中，悬架位移始终保持在有限范围内，随着车速和路面水平的增加，主动悬架的阻尼效果明显优于被动悬架，证明了主动阻尼方案的有效性. 被动和主动悬架的均方根加速度值分别为1.572m/s2和1.229m/s2，振动加速度均方根值分别降低了22.45%和21.82%。在主动控制过程中，悬架位移始终保持在有限范围内，随着车速和路面水平的增加，主动悬架的阻尼效果明显优于被动悬架，证明了主动阻尼方案的有效性.