越野车半主动悬架的变论域模糊PID控制

为了改善半主动悬架的控制效果,利用变论域理论对模糊PID控制器的输入论域和输出论域进行调节。根据阻尼可调两级压力式油气悬架的力学特性,建立半车半主动悬架动力学模型,在MATLAB/Simulink中构建半车半主动悬架控制模型,以冲击路面和随机路面作为输入激励进行仿真。结果表明,不同路面激励下,变论域模糊PID控制悬架和模糊PID控制悬架的减振效果均明显好于被动悬架,在冲击路面激励下的减振效果较好。冲击路面激励下,相较于模糊PID控制悬架,变论域模糊PID控制悬架的前、后车身垂直加速度和车身俯仰角加速度均方根分别减小30.89%,34.36%,37.00%,车身动挠度均方根比较接近,进一步提高了越野车的行驶平顺性。

Variable Universe Fuzzy PID Control of Semi-active Suspension for Off-road Vehicle

In order to improve the control effect of semi-active suspension, the variable universe theory is used to adjust the input theory domain and output domain of Fuzzy PID controller. According to the mechanical characteristics of a damping adjustable two-stage pressure hydro-pneumatic suspension, the dynamic model of semi-active suspension is established, and the control model of semi-active suspension is built in MATLAB/Simulink, impact road surface and random road surface are used as input excitation to simulate. The results show that the vibration reduction effect of variable universe Fuzzy PID control suspension and Fuzzy PID control suspension are obviously better than that of passive suspension under different road excitation, and the vibration reduction effect is better under impact road excitation. Under impact road excitation, compared with Fuzzy PID control suspension, the front and rear vehicle vertical acceleration and vehicle pitch Angle acceleration root mean square of variable universe Fuzzy PID control suspension are reduced by 30.89%, 34.36% and 37.00%, and the root mean square of a dynamic deflection of the vehicle body is close, which further improves the ride comfort of the off-road vehicle.