7自由度半主动悬架整车模型PID-LQR控制研究  

Study on PID-LQR Control of Complete Vehicle Model with 7 Degrees of Freedom Semi-active Suspension

作　　者：高晋[1] 李晖[1] 杨秀建[1] GAO Jin;LI Hui;YANG Xiujian(Kunming University of Science and Technology,Kunming,650500,China)

机构地区：[1]昆明理工大学,昆明650500

出　　处：《车辆与动力技术》2023年第3期1-6,23,共7页Vehicle & Power Technology

基　　金：国家自然科学基金地区基金项目(51965026)。

摘　　要：建立七自由度模型,PID控制理论和LQR控制理论相互结合,设计了PID-LQR控制器,对车身垂直加速度、悬架动行程、轮胎动位移、俯仰角加速度和侧倾角加速度进行优化控制.利用MATLAB/Simulink搭建了仿真模型,利用遗传算法优化各项性能指标权重,使用PID参数整定工具箱PID Tuner整定PID参数.为了突出PID-LQR控制的效果,加入被动悬架和采用LQR控制的半主动悬架进行对比,仿真结果表明,采用PID-LQR控制后,相比于被动悬架和采用LQR控制后的半主动悬架,PID-LQR控制方法控制效果显著,各项性能指标有不同程度优化.Establish a seven-degree-of-freedom model,by combining PID control theory and LQR control theory,PID-LQR controller was designed to optimize the control of body vertical acceleration,suspension dynamic travel,tire dynamic displacement,pitch angle acceleration and roll angle acceleration.The simulation model was built by MATLAB/Simulink,and the weight of each performance index was optimized by genetic algorithm.PID parameter tuning toolbox PID Tuner was used to set PID parameters.In order to highlight the effect of PID-LQR control,add passive suspension and semi-active suspension using LQR control for comparison,the simulation results show that the use of PID-LQR control,compared with passive suspension and semi-active suspension using LQR control,PID-LQR control method control effect is significant,the performance indicators have different degrees of optimization.

关 键 词：七自由度模型 随机路面输入模型 PID-LQR控制 PID Tuner 遗传算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]