具有非线性电液作动器的车辆悬架鲁棒PID控制 |
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引用本文: | 张玉春,丛华,赵霖,张大巍.具有非线性电液作动器的车辆悬架鲁棒PID控制[J].汽车工程,2004,26(6):686-690,682. |
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作者姓名: | 张玉春 丛华 赵霖 张大巍 |
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作者单位: | 1. 蚌埠坦克学院指挥自动化工程系,蚌埠,233013;装甲兵工程学院科研部,北京,100072 2. 装甲兵工程学院科研部,北京,100072 3. 蚌埠坦克学院指挥自动化工程系,蚌埠,233013 |
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摘 要: | 依据悬架实验装置,建立了电液作动器的非线性动力学方程,随后得到线性对象模型。作动器的非线性效果通过线性化模型的参数不确定性来体现。应用Matlab的非线性控制系统工具箱,设计了对象模型的鲁棒PID控制器。仿真和实验研究表明:该控制器对系统的不确定性具有较强的鲁棒性,提高了车辆悬架系统的性能。
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关 键 词: | 对象模型 鲁棒PID控制器 参数不确定性 鲁棒性 工具箱 线性化模型 系统 车辆悬架 作动器 非线性 |
Robust PID Control of Vehicle Suspension with Nonlinear Electro-hydraulic Actuator |
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Abstract: | According to the expe riment device for active suspensio n,the nonlinear dynamics equations for electro-hydraulic actuator are derived and a linearized object mod el is set up.The effects of nonlin earity are taken into account by p arameters uncertainty in linearize d model.Based on toolbox in Matlab for nonlinear control system,a rob ust PID controller for object mode l is designed.Simulation and exper iment results show that this PID c ontroller designed with nonlinear optimization is robust against sys tem uncertainty,which enhances the performance of vehicle suspension system. |
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Keywords: | Nonlinear electro-hydra ulic actuator Robust PID control A ctive suspension |
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