基于CMAC-PID的汽车主动悬架控制策略研究  

Research on Control Strategy of Automotive Active Suspension Based on CMAC-PID

作　　者：徐广琳 刘雅荣[3] XU Guanglin;LIU Yarong(Changchun Automobile Industry Institute,Changchun 130013,China;Education and Training Center,China First Automobile Group Corporation,Changchun 130013,China;Changchun Vocational Institute of Technology,Changchun 130000,China)

机构地区：[1]长春汽车工业高等专科学校,长春130013 [2]第一汽车集团公司教育培训中心,长春130013 [3]长春职业技术学院,长春130000

出　　处：《重庆理工大学学报（自然科学）》2019年第10期54-60,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(6144041)

摘　　要：为研究车辆在行驶过程中的运动姿态,建立了7自由度整车主动悬架模型,并对其进行动力学分析。针对悬架系统非线性、强耦合性的问题,利用小脑模型神经网络(CMAC)学习速率高、抗干扰能力强等特点,提出一种基于CMAC-PID的主动悬架控制方法,从而实现系统参数的实时在线调整。同时,以车身垂向、俯仰、侧倾等相关参数为性能指标进行仿真和实验研究。结果表明:所建立的模型可真实体现悬架系统的全面运动过程,所提出的控制策略能有效减弱车身因路面激励而产生的振动;车身垂直方向位移、车身垂向加速度、悬架平均动行程和车轮平均动位移分别减少了33.78%、22.58%、16.83%、25.71%,车身平均俯仰角位移和车身平均侧倾角位移分别减小了29.77%、26.67%,大幅改善了汽车操纵稳定性、行驶平顺性及乘坐舒适性。In order to study the vehicle’s motion attitude during driving,a 7-DOF vehicle suspension model was established and its dynamics was analyzed.Aiming at the problem of non-linearity and strong coupling of suspension system,an active suspension control method based on CMAC-PID is proposed,which makes use of the characteristics of high learning rate and strong anti-interference ability of cerebella model articulation controller(CMAC),so as to realize real-time online adjustment of system parameters.At the same time,simulation and experimental research are carried out with the parameters of vertical,pitch and roll of the body as performance indicators.The results show that the model can truly reflect the overall motion process of suspension system.The proposed control strategy can effectively reduce the vibration of vehicle body caused by road excitation.The vertical displacement,vertical acceleration,average suspension travel and average wheel dynamic displacement are reduced by 33.78%,22.58%,16.83%and 25.71%,respectively.The pitch displacement and roll angle of vehicle body are reduced by 33.78%,22.58%,16.83%and 25.71%.The displacement decreases by 29.77%and 26.67%respectively,which greatly improves vehicle handling stability,ride comfort and ride comfort.

关 键 词：主动悬架 小脑模型关节控制器 CMAC-PID 仿真 

分 类 号：U461[机械工程—车辆工程]