基于PID控制算法的含时滞主动悬架系统仿真研究  

Research on Simulation of Active Suspension System with Time Delay Based on PID Control Algorithm

作　　者：曹青松[1] 孙法雄[1] 熊国良[1] 

机构地区：[1]华东交通大学载运工具与装备省部共建教育部重点实验室,南昌330013

出　　处：《煤矿机械》2011年第10期86-88,共3页Coal Mine Machinery

基　　金：江西省研究生创新资金项目(YC10A091)

摘　　要：采用纯输入时滞表示主动悬架系统的时滞现象,建立含时滞1/4主动悬架系统的动力学模型,用PID策略实施闭环控制,通过Routh-Hurwitz稳定判据推导出系统稳定性条件,得到系统临界稳定时的时滞量大小。通过MATLAB/SIMULINK分别仿真悬架系统对阶跃输入与谐波输入的响应,结果表明,时滞的存在降低了系统控制效果,超过临界时滞时系统失稳,临界时滞量大小与控制器参数、系统其他参数等诸多因素有关,数值算法与仿真步长的选择对计算结果有较大影响。System dynamic model with time-delay is established in which time lag is presented by pure input time delay.PID strategy is adopted to control system.The critical stable value of time delay and stability criterion of system is acquired according to Routh-Hurwitz stability criterion.The suspension system responses of step input and harmonic input are respectively simulated using MATLAB/SIMULINK.The results show system control effect is reduced with existence of time delay and system is becoming unstable with lag exceeding critical stable value of time delay.The critical value is related with controller parameters and other characteristics of suspension system.And choice of numerical algorithm and simulation step size will influence results of calculations.

关 键 词：主动悬架 时滞 PID 稳定性 

分 类 号：U461.4[机械工程—车辆工程]