Abstract
To achieve the required quality of transient control when starting the machine from stand-still and switching gears, it is advisable to use "Input Shapers" in the control system. The parameters of distributed control – the amplitude and pulses duration – are determined from the condition of the transients quality improvement at optimizing speed response, robustness and the residual oscillations level. The research will substantiate the method of reducing transients oscillation on the basis of shaping of the control action during a period of time (amplitude and duration of the control pulses), taking into account the parameters of the lowest form of dynamic system oscillations. On the basis of studying the computer model of vehicle motion, new dependences of "Input Shaper" coefficients on vehicle design parameters are defined. The difference in the results obtained, with other things being equal, is that on the basis of the new regularities obtained with the modal representation of the dynamic system, the proposed method makes it possible to limit generation of low-frequency oscillatory processes which accompany starting the vehicle from stand-still and shifting gears. This ensures a decrease in dynamic loading and achievement of the desired level of comfort of the vehicle. Analyzing the results it is established that the best stability is reached by the adaptive setting of the input shapers in accordance with controlled value of the natural frequency of the lowest single-node mode.