主动悬架LQG控制与模糊PID控制的比较研究

Comparison between LQG Control and Fuzzy PID Control of Active Suspension

为了解决主动悬架系统控制问题,建立了1/2车辆主动悬架系统动力学模型,并设计了两种应用于主动悬架的控制器:LQG控制器和模糊PID控制器。LQG控制器以车身垂向加速度、俯仰角加速度、悬架动挠度、轮胎动位移和悬架控制力作为其性能评价指标。模糊PID控制器将PID控制器与模糊控制器并联,采用了双模糊控制,分别以质心速度及其变化率和俯仰角速度及其变化率作为前、后悬架模糊控制器的两个输入;输出分别为前、后悬架的控制力。将分别应用这两种控制器的主动悬架在Simulink中仿真,结果表明两种控制器均能很好地改善汽车平顺性和乘坐舒适性。通过对两种控制的综合比较,模糊PID控制更具有实用性。

In order to solve the control problem of active suspension, the active suspension system dynamics mod-el of 1/2 vehicle was established, and two controller applied in the active suspension was designed：LQG control-ler and fuzzy PID controller.The body vertical acceleration, pitch angular acceleration, suspension dynamic de-flection, tire dynamic displacement and suspension control force as the performance evaluation indicators of LQG controller.Fuzzy PID controller was paralleled by PID controller and fuzzy controller.Double fuzzy control be used, centroid velocity and it’ s change rate and pitch angular velocity and it’ s change rate as the two inputs of the two fuzzy controllers from front and rear suspensions respectively, and the control force of front and rear sus-pensions as the outputs.The active suspension applied respective controller were simulated in Simulink, the re-sult show that the ride comfort can be improved by two kinds of the controller.Through the comprehensive com-parison of two kinds of control, the fuzzy PID control should be more practically.