复合式电磁悬挂系统模糊PID控制及能耗研究

Research on Fuzzy PID Control and Energy Consume of Compound Electromagnetic Suspension System

为研究车辆振动控制及能耗特性,以某型军用越野车辆为对象,设计由电机、齿轮齿条机构及磁流变减振器(Magneto-rheological Damper,MRD)组成的复合式电磁悬挂系统,设计控制算法并对其振动控制性能及控制能耗特性进行分析。首先,对复合式电磁作动器主动出力特性进行台架测试;其次,针对Fuzzy控制缺少积分项,以及在平衡点附近存在盲区的缺陷,设计Fuzzy及PID并联的FPID控制器,并对其控制原理进行分析;最后,以被动悬挂、Fuzzy及PID主动控制为参考,在时域及频域条件下对FPID控制器减振性能及能耗特性进行分析。结果表明,Fuzzy、PID及FPID可分别使车身垂直加速度均方根值降低29.01%、32.08%及41.85%,FPID控制能耗与PID相当,但却避免了Fuzzy控制能耗在频域上分布不光滑的缺陷。FPID控制器设计简单,综合性能最优,适用于车辆工程领域。

In order to research the vibration control and energy consume feature of vehicles,taking a military off-road vehicle as a object,the paper designs a compound electromagnetic suspension system which consists of electromotor, rack and pinion mechanism and magneto-theological damper,designs control algorithm,and analyzes its vibration control performanee and control energy consume feature. Firstly,it conducts active export force feature test of composite electromagnetic actuator based on experiment table. Next, because Fuzzy control is lack of integral term and has the defect that there exists dead zone beside balance point,it designs FPID controller constituted by Fuzzy and PID in parallel,and analyzes its e, nntrol principle. Finally,it takes passive suspension,Fuzzy and PID active control as a reference, analyzes vibration control performance and energy consume feature of FPID controller in both time domain and frequency domain. The result indicates thai Fuzzy, PID and FPID can reduce the root mean square of vehicle body vertical acceleration by 29. 01% , 32. 08% and 41. 85% respectively,and the control energy consume of FPID is COtTespond to that of PID, while FPID can avoid the defect that the control energy consume distribution is not smooth in frequency domain of Fuzzy. The FPID controller has a simple design ,and optimal comprehensive performance ,and which is suitable for vehicle engineering field.