摘要
为提高汽车的乘坐舒适性,研究提出一种分数阶积分-微分(ID)优化控制方法。根据1/4车非线性主动悬架系统数学模型,采用控制系统频域方法设计出控制器参数,并分析了控制系统的稳定性和鲁棒性。为抑制实际悬架非线性环节和随机路面激励对控制性能影响,仅对控制器的分数阶阶次参数进行离线优化搜索。上述方法能避免悬架系统在线优化控制方法中因存在控制延迟而导致实时控制效果不佳的问题,具有简单有效、易于工程实现的特点。主动悬架系统的控制仿真结果表明,在不同路面及车速工况下,相比整数阶比例-微分(PD)控制情形,上述控制方法均能获得更好的控制效果,且进一步减少人体敏感频率范围内的车身垂直振动加速度,提高了汽车乘坐舒适性。
In order to improve the ride comfort of vehicle,a fractional-order ID optimization control method is proposed for controlling the nonlinear active suspension system. From the nonlinear suspension dynamical model of a quarter vehicle,the fractional-order ID controller is designed based on frequency domain design theory,and the stability and robustness of the controlled suspension system are analyzed. To improve control performances of suspension system affected by nonlinear element and random road,off-line optimization search of the fractional order number is carried out. This method not only has some characteristics of simplicity,efficiency and engineering realizability,but also can overcome the problem that the control performance can be decreased because of the control time-delay effect in the methods through on-line optimizing controller parameters. The simulation results demonstrate that under the driving cycles with various grade roads and vehicle speed,compared to the integral-order PD control scheme,the fractional-order ID controller not only has better control performances including reducing the vertical acceleration in human sensitive frequency range of car body,but also can further improve ride comfort of vehicle by controlling the active suspension system.
出处
《计算机仿真》
CSCD
北大核心
2016年第8期137-141,162,共6页
Computer Simulation
基金
广西自然科学基金项目(2013GXNSFAA019351
2014GXNSFBA118284)
