车辆主动悬架系统的舒适性优化控制
|
摘要
为提高非线性主动悬架系统控制性能,提出一种分数阶模糊控制与PID控制输出端并联结合的复合控制方法,利用分数阶模糊控制输出对PID控制进行补偿。研究根据1/4车非线性悬架模型,考虑路面冲击载荷作用,采用控制系统综合性能指标函数方法,对分数阶次参数进行离线优化设计。复合控制方法具有算法简单、控制律计算量较少的特点,不仅能弥补PID控制自适应性差的不足,且可避免传统模糊PID参数在线整定优化控制方法中,因存在控制延迟导致实时控制悬架系统效果不佳的问题。不同等级路面和车速的仿真研究结果表明,与单一PID控制、整数阶模糊控制以及整数阶模糊PID复合控制这三种方法相比较,上述方法能获得更好控制效果,有效提高了车辆的乘坐舒适性。
For improving the control performances of nonlinear active suspension,a parallel hybrid control method is proposed in the paper,which consists of PID controller and fractional-order controller.The fractional-order controller in the hybrid control scheme was used to compensate the output of the PID controller.From the dynamical model of a nonlinear quarter vehicle,using the impulsive load,the fractional order was designed via off-line optimization search based on the minimum criteria of the suspension system comprehensive performance index function.This method has some characteristics of simplicity and less calculation,which can not only compensate the adaptability of the traditional PID controller,but also overcome the problem that the control performance can be decreased because of the control time-delay effect in the fuzzy-PID method through on-line optimizing PID parameters.Simulation results demonstrate that under the driving cycles with various grade roads and vehicle speed,the presented hybrid control method has better control effect than the PID control and the hybrid scheme with integral-order fuzzy controller,and can further improve the ride comfort and safety of vehicle.
For improving the control performances of nonlinear active suspension,a parallel hybrid control method is proposed in the paper,which consists of PID controller and fractional-order controller.The fractional-order controller in the hybrid control scheme was used to compensate the output of the PID controller.From the dynamical model of a nonlinear quarter vehicle,using the impulsive load,the fractional order was designed via off-line optimization search based on the minimum criteria of the suspension system comprehensive performance index function.This method has some characteristics of simplicity and less calculation,which can not only compensate the adaptability of the traditional PID controller,but also overcome the problem that the control performance can be decreased because of the control time-delay effect in the fuzzy-PID method through on-line optimizing PID parameters.Simulation results demonstrate that under the driving cycles with various grade roads and vehicle speed,the presented hybrid control method has better control effect than the PID control and the hybrid scheme with integral-order fuzzy controller,and can further improve the ride comfort and safety of vehicle.
引文
[1]G Verros,S Natsiavas.Ride Dynamics of Nonlinear Vehicle Model Using Component Mode Synthesis[J].Journal of Vibration and A-coustics,2002,124(3):427-434.
[2]高国生,杨绍普,郭京波.汽车悬架控制系统研究动态与展望[J].机械强度,2003,25(3):279-284.
[3]周长城.汽车平顺性与悬架系统设计[M].北京:机械工业出版社,2011.
[4]兰文奎,李仕生.半车主动悬架系统模糊PID控制器设计及仿真[J].重庆交通大学学报,2015,34(2):148-158.
[5]孟杰,陈庆樟,张凯.基于粒子群算法的汽车悬架PID控制仿真[J].计算机仿真,2013,30(4):155-158.
[6]王洪礼,郭龙.基于模糊免疫PID的非线性汽车悬架控制策略与仿真研究[J].机械强度,2008,30(6):911-916.
[7]D Ozgur,K Ilknur,C Saban.Modeling and control a nonlinear half-vehicle suspension system:a hybrid fuzzy logic approach[J].Nonlinear Dynamics,2012,67:2139-2151.
[8]S Son,C Isik.Application of fuzzy logic control to an automotive active suspension system[C].Fuzzy Systems,1996,Proceedings of the Fifth IEEE International Conference.New Orleans La,USA,1996-1:548-553.
[9]孙涛,黄震宇,陈大跃,蔡良斌.模糊控制在半主动悬架系统中的应用研究[J].汽车技术,2002,(6):18-21.
[10]朱呈祥,邹云.分数阶控制研究综述[J].控制与决策,2009,24(2):161-169.
[11]吴光强,黄焕军,叶光湖.基于分数阶微积分的汽车空气悬架半主动控制[J].农业机械学报,2014,45(7):19-25.
[12]陈宁,陈南,王乃洲.基于分数阶参考模型的车辆悬架自适应控制[J].南京林业大学学报(自然科学版),2009,33(3):116-120.
[13]高远,范建文,潘盛辉.汽车非线性主动悬架系统的分数阶模糊控制[J].中国机械工程,2015,26(10):1403-1408.
[14]冯宏娟,王守觉.直接修改控制规则的自调整模糊控制器[J].电子学报,1992,20(2):10-16.
[15]孙建民.基于LMS自适应滤波的模糊控制主动悬架研究[J].汽车工程,2004,26(4):472-475.
[16]王靖岳,王浩天,张勇.基于模糊PID控制的汽车主动悬架研究[J].机械科学与技术,2009,28(8):1047-1051.
[17]B Oldham,J Spanier.The fractional calculus[M].New York:Academic,1974.
[18]韩峻峰.模糊控制技术[M].重庆:重庆大学出版社,2000.
[19]薛定宇.控制系统计算机辅助设计(第二版)[M]..北京:清华大学出版社,2006.
[20]喻凡.车辆动力学及其控制[M].北京:人民交通出版社,2003.
[2]高国生,杨绍普,郭京波.汽车悬架控制系统研究动态与展望[J].机械强度,2003,25(3):279-284.
[3]周长城.汽车平顺性与悬架系统设计[M].北京:机械工业出版社,2011.
[4]兰文奎,李仕生.半车主动悬架系统模糊PID控制器设计及仿真[J].重庆交通大学学报,2015,34(2):148-158.
[5]孟杰,陈庆樟,张凯.基于粒子群算法的汽车悬架PID控制仿真[J].计算机仿真,2013,30(4):155-158.
[6]王洪礼,郭龙.基于模糊免疫PID的非线性汽车悬架控制策略与仿真研究[J].机械强度,2008,30(6):911-916.
[7]D Ozgur,K Ilknur,C Saban.Modeling and control a nonlinear half-vehicle suspension system:a hybrid fuzzy logic approach[J].Nonlinear Dynamics,2012,67:2139-2151.
[8]S Son,C Isik.Application of fuzzy logic control to an automotive active suspension system[C].Fuzzy Systems,1996,Proceedings of the Fifth IEEE International Conference.New Orleans La,USA,1996-1:548-553.
[9]孙涛,黄震宇,陈大跃,蔡良斌.模糊控制在半主动悬架系统中的应用研究[J].汽车技术,2002,(6):18-21.
[10]朱呈祥,邹云.分数阶控制研究综述[J].控制与决策,2009,24(2):161-169.
[11]吴光强,黄焕军,叶光湖.基于分数阶微积分的汽车空气悬架半主动控制[J].农业机械学报,2014,45(7):19-25.
[12]陈宁,陈南,王乃洲.基于分数阶参考模型的车辆悬架自适应控制[J].南京林业大学学报(自然科学版),2009,33(3):116-120.
[13]高远,范建文,潘盛辉.汽车非线性主动悬架系统的分数阶模糊控制[J].中国机械工程,2015,26(10):1403-1408.
[14]冯宏娟,王守觉.直接修改控制规则的自调整模糊控制器[J].电子学报,1992,20(2):10-16.
[15]孙建民.基于LMS自适应滤波的模糊控制主动悬架研究[J].汽车工程,2004,26(4):472-475.
[16]王靖岳,王浩天,张勇.基于模糊PID控制的汽车主动悬架研究[J].机械科学与技术,2009,28(8):1047-1051.
[17]B Oldham,J Spanier.The fractional calculus[M].New York:Academic,1974.
[18]韩峻峰.模糊控制技术[M].重庆:重庆大学出版社,2000.
[19]薛定宇.控制系统计算机辅助设计(第二版)[M]..北京:清华大学出版社,2006.
[20]喻凡.车辆动力学及其控制[M].北京:人民交通出版社,2003.