电控空气悬架车高调节与车姿控制研究

Vehicle Height Adjustment and Attitude Control of Electronically Controlled Air Suspension

针对电控空气悬架在车高调节过程中存在的过充,过放以及震荡等不良现象和加速、减速、转弯以及路面随机干扰对整车姿态的影响,根据变质量充放气系统热力学理论,提出一种能够对气体质量流量进行自适应快速调节的单神经元PID控制方法。根据车辆动力学理论,建立了加速、减速、转弯以及路面随机干扰下的空气悬架车身高度调节系统整车模型。基于神经网络控制算法,设计了车身高度调节的单神经元PID控制器和整车姿态控制的BP神经网络PID控制器。为检验所设计控制器的性能,搭建了Matlab/Simulink车身高度控制仿真模型和整车姿态控制仿真模型。仿真结果表明所设计的控制系统不仅能够实现车身高度的有效调节,同时还能抑制车身高度调节中的整车姿态变化。

For the undesirable phenomenon such as over-charge,over-discharge,oscillation,acceleration,braking,swerve and random disturbance of road during the vehicle adjustment process of the electronically controlled air suspension,a single neural network PID control method to regulate the gas mass flow rate adaptively was proposed based on the theory of the thermodynamic theory of variable mass charge/discharge gas system.According to the theory of vehicle system dynamics,a vehicle height adjustment mathematical model for the electronically controlled air suspension under acceleration,braking,swerve and random disturbance of road was established.A single neural network PID adaptive height controller for vehicle height adjustment and A BP neural network PID adaptive height controller for vehicle attitude adjustment based on neuron network algorithm were designed.To test performance of the controllers,vehicle height control model and the whole vehicle model were set up by Matlab/Simulink.The test results showed that the control system could regulate the vehicle effectively and restrain the vehicle attitude change during the vehicle height adjustment process.