基于改进鲸鱼算法的半主动悬架PID控制

PID control of semi-active suspension based on improved whale algorithm

汽车悬架的控制效果直接影响车辆稳定性与舒适性.汽车半主动悬架的控制常采用PID控制器,因其控制原理简单,实用性强,可以达到较好的控制效果.然而PID控制器的参数选择(KP、KD和KI)对控制效果影响较大,传统的经验法参数整定,难以在短时间内找到可以达到最好控制效果的一组参数.而智能优化算法可以在合理的时间内找到,不需要经验.因此,提出利用改进的鲸鱼优化算法(IWOA)整定PID参数,并用于控制汽车半主动悬架.通过Matlab/Simulink仿真分别用经验法、鲸鱼优化算法(WOA)和IWOA整定PID参数,并分别比较了三种方法整定参数后的PID控制器的控制效果,证明了IWOA对整定PID参数的有效性.

The control effect of the car suspension directly affects the stability and comfort of the vehicle.PID controller is often used in the control of automobile semi-active suspension.Because of its simple control principle and strong practicability,it can achieve better control effect.However,the parameter selection of PID controller(KP,KD and KI)has a great influence on the control effect.The traditional empirical method of parameter tuning is difficult to find a set of parameters that can achieve the best control effect in a short time.Intelligent optimization algorithms can be found in a reasonable amount of time and require no experience.Therefore,the Improved Whale Optimization Algorithm(IWOA)is proposed to adjust the PID parameters and control the vehicle semi-active suspension.Through MATLAB/Simulink simulation,the empirical method,whale optimization algorithm and IWOA are used respectively to set PID parameters,and the control effects of PID controllers after tuning parameters of the three methods are compared respectively,which proves that IWOA is effective in tuning PID parameters.