交叉变轮距车辆磁流变悬架系统的模糊PID控制  

Fuzzy PID control on MR suspension system of variable cross track vehicle

作　　者：孟广耀[1] 孔光[1] 王作娟[1] 黄居鑫[1] 李忠政 MENGGuangyao;KONGGuang;WANGZuojuan;HUANGJuxin;LIZhongzheng(School of Mechanical Engineering, Qingdao University of Technology , Qingdao, Shandong 266520, Chin)

机构地区：[1]青岛理工大学机械工程学院,山东青岛266520

出　　处：《中国科技论文》2017年第22期2531-2536,共6页China Sciencepaper

基　　金：山东省临沂市重点研发计划资助项目(2017GGH023)

摘　　要：为提高车辆平顺性,设计了应用于高地隙、轮距无极可调的农田作业交叉变轮距车辆磁流变悬架系统,并利用三角级数法建立了沟垄地路面不平度时域激励模型。为优化悬架系统非线性动态特性并提高磁流变阻尼器的响应速度,以沟垄地路面不平度为系统随机激励源,以车轮和车身垂直位移为输入,以悬架系统优化参数为状态变量,以阻尼器实时控制电流为输出建立了悬架系统的状态方程。基于MATLAB/Simulink模块搭建了系统的模糊PID控制模型。研究结果表明,模糊PID控制后的磁流变悬架系统使得车身和车轮垂直位移最大值分别为0.093 43m和0.015 2m,离散程度分别降低了55%和99.5%,相比于控制前明显降低。研究极大地提高了交叉变轮距车辆的平顺性,且控制电流与阻尼力呈明显的一致性关系,并降低了系统的响应迟滞性。To improve the vehicle ride comfort, a variable cross track vehicle magnetorheological （MR） suspension system was de-signed for high clearance, track stepless and adjustable field work And a time domain excitation model for land unevenness ofridge and furrow was constructed by using trigonometric series method. To optimize the nonlinear dynamic suspension system and enhance l^he response speed of MR damper, equation of state of l^he suspensiadopting land unevenness of ridge and furrow as random excitation source of system, wheel and body vertical displacement as in-puts ,optimization parameters of the suspension system as state variables , and damper rea--time control current the fuzzy PID control model of the system was built based on MATLAB/Simulink module. The results show that after fuzzy PID control on the MR suspension system , the maximum vertical displacement of the body and the wheel are respectively 0. 093 43 m and 0 015 2 m , and the degree of dispersion is decreased by 55% and 99. 5% , much lower than that before control. The ride comfott of the variable cross track vehicle is improved significantly and the control current is well consistent with the damping force , which reduces the hysteretic response.

关 键 词：三角级数 平顺性 磁流变阻尼器 模糊PID控制 

分 类 号：U463.33[机械工程—车辆工程]