油气主动悬架车身高度非线性控制仿真和试验研究

对采用油气主动悬架的车辆车身高度进行控制时，由于摩擦力的影响，采用根据线性模型设计的常规ＰＩＤ等传统控制策略系统存在振荡现象。为解决这个问题，建立了悬架高度控制的非线性模型，通过分析油气悬架中存在的非线性因素，对ＰＩＤ控制的积分项系数进行切换控制，从而设计出一种变结构与ＰＩＤ联合控制策略。仿真结果和试验结果表明，与线性ＰＩＤ控制策略相比，此控制策略在消除系统振荡、获得较高控制精度等方面具有较好的控

Simulation and Test Study on the Nonlinear Control for Vehicle Body Height with Hydropneumatic Active Suspension

To control the body height of vehicle with hydropneumatic active suspension system, this paper presents a new control strategy to eliminate the oscillation arising from friction force and occurring in conventional PID control.According to a nonlinear suspension model,this control strategy based on variable structure control and PID control is presented and a switch method of the coefficient of the integration part of PID control is proposed.The new control strategy comkining variable structure with PID control is developed.The simulation and test results show that this control strategy can obtain better control effects on vehicle body height than conventional PID control.