基于FPGA的汽车主动悬架模糊自适应PID控制器设计

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英文篇名：Design of Adaptive Fuzzy-PID Controller of Automobile Active Suspension Based on FPGA 作者：马克 ; 米林 ; 谭伟 ; 王苏磊 英文作者：MA Ke;MI Lin;TAN Wei;WANG Sulei;Vehicle Engineering Institute,Chongqing University of Technology; 关键词：主动悬架 ; 模糊自适应PID控制 ; FPGA ; VHDL语言 英文关键词：Active suspension;;Fuzzy adaptive PID control;;Field programmable gate array(FPGA);;VHSIC hardware de scription language(VHDL) 中文刊名：JCYY 英文刊名：Machine Tool & Hydraulics 机构：重庆理工大学车辆工程学院; 出版日期：2018-07-28 出版单位：机床与液压 年：2018 期：v.46;No.464 基金：重庆市科委科技支撑示范项目(cstc2014fazktjcsf6004);; 重庆理工大学科研启动基金资助项目(2015ZD06) 语种：中文; 页：JCYY201814028 页数：6 CN：14 ISSN：44-1259/TH 分类号：102-106+155

摘要

为改善乘车舒适性,建立1/4主动悬架模型,提出模糊自适应PID控制策略,并基于FPGA平台,应用VHDL语言在RTL级上实现模糊控制。该PID控制器以车身垂直速度的误差及误差变化率作为模糊控制器的输入,根据模糊规则推理,对PID参数进行在线优化,利用MATLAB/Simulink对模糊自适应PID控制器进行仿真。结果表明:具有模糊自适应PID控制器的主动悬架在提高车辆舒适性方面明显优于被动悬架。最后,采用FPGA设计方法,对模糊控制器的主要模块进行设计。
        In order to improve the vehicle comfort,a quarter active suspension model was established,and the strategy of fuzzy adaptive PID control was proposed. Meanwhile,VHDL language was selected to realize fuzzy control at RTL level based on FPGA platform. A PID controller was designed and its parameters were modified by the fuzzy controller with qualities of parameter self-regulating function,in which the body vertical vibration velocity and acceleration were used as the input source. The comparison study through simulation by using MATLAB/Simulink shows that ride comfort performance of active suspension with fuzzy adaptive PID controller is better than that of passive suspension. Fuzzification,fuzzy inference and defuzzification were realized respectively by using the VHDL language based on FPGA.

引文

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