Variable Universe Adaptive Fuzzy PID Control of Active Suspension
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摘要: 为提高汽车行驶平顺性和乘坐舒适性，提出一种基于变论域理论的自适应模糊PID汽车主动悬架控制策略，将自适应模糊PID和变论域的在线调整整合在一起，采用变论域模糊控制实现控制系统输入输出论域的自整定，提高控制精度；采用自适应模糊PID控制，提高系统的动、静态特性，形成更优的悬架控制方法。研究结果表明，变论域自适应模糊PID控制主动悬架较传统模糊控制以及模糊PID控制的主动悬架能够更有效的克服路面冲击，减少汽车垂直方向的振动，进一步提高汽车行驶平顺性和乘坐舒适性。Abstract: In order to improve the riding performance and comfort of a vehicle, an adaptive fuzzy PID control strategy for its active suspension based on the variable universe theory is proposed. The adaptive fuzzy PID control and on-line adjustment of variable universe are integrated. The fuzzy PID control based on the variable universe theory realizes the self-tuning of the I/O domain of the control system and improves the control accuracy. The adaptive fuzzy PID control is adopted to improve the dynamic and static characteristics of the control system and form a better suspension control method. The research results show that the variable universe adaptive fuzzy PID control of the active suspension can overcome road impact more effectively than the traditional fuzzy control and the fuzzy PID control active suspension, reducing the vertical vibration of the vehicle and further improving the riding performance and comfort of the vehicle.
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Key words:
- active suspension /
- variable universe /
- adaptive fuzzy PID control /
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表 1 α1模糊控制规则表
e ec NB NM NS ZO PS PM PB NB PB PB PM PM PS PS ZO NM PB PB PM PM PS ZO ZO NS PM PM PM PS ZO NS NM ZO PS PS PS ZO NS NM NM PS PS PS ZO NS NS NM NM PM ZO ZO NS NM NM NM NB PB ZO NS NS NM NM NB NB 
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表 2 KP模糊控制规则表
e ec NB NM NS ZO PS PM PB NB PB PB PM PM PS ZO ZO NM PB PB PM PS PS ZO NS NS PM PM PM PS ZE NS NS ZO PM PM PM PS ZE NS NS PS PS PS ZO NS NS NM NM PM PS ZO NS NM NM NM NB PB ZO ZO NM NM NM NB NB
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表 3 不同控制方法下悬架的性能
性能 均方根值 被动悬架 模糊控制 模糊PID控制 变论域自适应模糊PID控制 垂直速度/(m·s-1) 0.033 77 0.024 31 0.012 71 0.009 151 垂直加速度/(m·s-2) 0.317 4 0.262 7 0.202 6 0.179 3 车轮动载荷/(N·s-1) 84.26 74.82 70.23 63.18
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