基于差分进化算法优化车辆非线性液压悬架双环PID控制研究
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摘要
车辆行驶经过障碍物时,容易造成悬架振动幅度较大,影响车辆运动的稳定性和舒适度。对此,创建了车辆液压悬架简图模型,根据牛顿定律推导出非线性控制方程式。采用双动液压系统驱动车辆悬架机构,给出了液压驱动控制方程式。构造优化目标函数,采用差分进化算法优化PID控制的内环和外环参数,给出了车辆液压悬架优化控制流程。将优化控制参数和初始运动参数导入到MATLAB软件中进行仿真,输出轮胎行程、悬架行程及车身加速度仿真曲线。仿真曲线表明:在受到路面正弦曲线障碍物干扰时,优化后的车辆液压悬架控制系统,不仅响应控制时间短,而且轮胎行程、悬架行程及车身加速度峰值较小、整体波动幅度较小。车辆液压悬架参数采用差分进化算法优化PID控制,能够降低路面干扰物造成的振动幅度,有利于保持车辆行驶的稳定性。
When the vehicle passes through an obstacle, it is easy to cause high suspension vibration amplitude, which affects the stability and comfort of the vehicle movement. A simplified model of vehicle hydraulic suspension is established, and nonlinear control equations are deduced according to Newton's law. The hydraulic drive control equation was given by using double-moving hydraulic system to drive vehicle suspension mechanism.The optimal control process of vehicle hydraulic suspension was given by using the differential evolution algorithm to optimize the internal and outer ring parameters of Proportion Integral Derivative(PID) control. The optimized control parameters and initial motion parameters were imported into the MATLAB software for simulation,and the tire stroke, suspension stroke and body acceleration simulation curve were output. Simulation curves show that the disturbance by sine curve road obstacles, the optimized vehicle hydraulic suspension control system, not only control response time is short, and tire stroke, suspension stroke and smaller peak acceleration as the car body, the overall volatility is smaller. The hydraulic suspension parameters of the vehicle adopt differential evolution algorithm to optimize PID control, which can reduce the vibration amplitude caused by road disturbance and help to maintain the stability of vehicle driving.
When the vehicle passes through an obstacle, it is easy to cause high suspension vibration amplitude, which affects the stability and comfort of the vehicle movement. A simplified model of vehicle hydraulic suspension is established, and nonlinear control equations are deduced according to Newton's law. The hydraulic drive control equation was given by using double-moving hydraulic system to drive vehicle suspension mechanism.The optimal control process of vehicle hydraulic suspension was given by using the differential evolution algorithm to optimize the internal and outer ring parameters of Proportion Integral Derivative(PID) control. The optimized control parameters and initial motion parameters were imported into the MATLAB software for simulation,and the tire stroke, suspension stroke and body acceleration simulation curve were output. Simulation curves show that the disturbance by sine curve road obstacles, the optimized vehicle hydraulic suspension control system, not only control response time is short, and tire stroke, suspension stroke and smaller peak acceleration as the car body, the overall volatility is smaller. The hydraulic suspension parameters of the vehicle adopt differential evolution algorithm to optimize PID control, which can reduce the vibration amplitude caused by road disturbance and help to maintain the stability of vehicle driving.
引文
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[2]GOHARI M,TAHMASEBI M.Active Off-Road Seat Suspension System Using Intelligent Active Force Control[J].Journal of Low Frequency Noise,Vibration and Active Control,2015,34(4):475-489.
[3]陈学文,张衍成,李萍,等.汽车主动悬架自适应模糊PID控制研究[J].机械制造与制造,2014(2):153-156.CHEN X W,ZHANG Y C,LI P,et al.Research on Adaptive Fuzzy-PID Control of Automobile Active Suspension[J].Machinery Design & Manufacture,2014(2):153-156.
[4]闫光辉,关志伟,杜峰,等.车辆主动悬架自适应LQG控制策略研究[J].机械科学与技术,2014,33(3):433-437.YAN G H,GUAN Z W,DU F,et al.Study on the Control Strategy of Adaptive LQG for Active Suspension Vehicle[J].Mechanical Science and Technology for Aerospace Engineering,2014,33(3):433-437.
[5]YAN G H,GUAN Z W,DU F,et al.Study on the Control Strategy of Adaptive LQG for Active Suspension Vehicle[J].Mechanical Science & Technology for Aerospace,2014,33(3):432-437.
[6]ARSLAN Y Z,SEZGIN A,YAGIZ N Z.Improving the Ride Comfort of Vehicle Passenger Using Fuzzy Sliding Mode Controller[J].Journal of Vibration and Control,2015,21(9):1668-1678.
[7]常盛,王福明.车辆主动悬架自适应模糊滑模控制研究[J].机械工程与自动化,2014(2):144-146.CHANG S,WANG F M.Research on Adaptive Fuzzy Sliding Mode Control for Active Supension[J].Mechanical Engineering & Automation,2014(2):144-146.
[8]CHOI H D,AHN C K,MYO T L,et al.Dynamic Output-Feedback H∞ Control for Active Half-Vehicle Suspension Systems with Time-Varying Input Delay[J].International Journal of Control,Automation and Systems,2016,14(1):59-68.
[9]MICHAELA J,GERDTSA M.Pro-Active Optimal Control for Semi-Active Vehicle Suspension Based on Sensitivity Updates[J].Vehicle System Dynamics,2015,53(12):1721-1741.
[10]KURCZYK S,PAWELCZYK M.Fuzzy Control for Semi-Active Vehicle Suspension[J].Journal of Low Frequency Noise,Vibration and Active Control,2013,32(3):218-225.
[11]彭来森.基于磁流变阻尼器的车辆悬架半主动控制研究[D].广州:华南理工大学,2010.
[12]PSYCHAS I,MARINAKI M,MARINAKIS Y,et al.Non-Dominated Sorting Differential Evolution Algorithm for the Minimization of Route Based Fuel Consumption Multiobjective Vehicle Routing Problems[J].Energy Systems,2017,8(4):785-814.
[13]CHAI R Q,SAVVARIS A,TSOURDOS A,et al.Multi-Objective Trajectory Optimization of Space Manoeuvre Vehicle Using Adaptive Differential Evolution and Modified Game Theory[J].Acta Astronautica,2017,136(4):273-280.