基于微分几何的汽车主动悬架模糊PID控制研究

Fuzzy-PID control for automobile active suspension based on differential geometry theory

文章以汽车主动悬架为研究对象,结合二自由度非线性汽车主动悬架动力学模型,利用微分几何理论将非线性模型精确线性化后,首先设计PID控制器,为抑制干扰因素影响而引起系统参数或结构改变,提高悬架系统应对复杂工况下的自适应能力,然后设计了利用模糊控制原理对PID参数进行在线整定的自适应模糊PID控制器。仿真结果表明:相比于参数固定的被动悬架系统,采用该控制方法的主动悬架能够轻松应对各种工况,不仅在保证改善汽车乘坐的舒适性的情况下,同时进一步改善了车辆的行驶平顺性和行驶安全性,为汽车主动悬架系统控制策略设计提供实用性参考。

In this paper,Taking the automobile active suspension as the research object,combined with two degree of freedom nonlinear dynamic model of vehicle active suspension,using the theory of differential geometry is the exact linearization of nonlinear model,PID controller is designed first,and to suppress interference factors affecting parameters in the system or structure change,improve the suspension system to deal with complex working conditions is the adaptive ability,and then design by using fuzzy control theory to the PID parameters online setting of adaptive fuzzy PID controller.The simulation results show that compared with fixed parameters of the passive suspension system,the control method of active suspension can easily deal with all kinds of conditions,not only in the case of a guarantee to improve vehicle ride comfort,and further improve the vehicle riding comfort and driving safety,for the automotive active suspension system control strategy is designed to provide practical reference.