Design of an Active Vehicle Suspension Based on an Enhanced PID Control with Wheelbase Preview and Tuning Using Genetic Algorithm

基於改進型PID控制以及軸距預瞄的汽車主動懸架設計和遺傳算法下的系統優化

謝正超(Zheng-Chao Xie) ； 王百鍵(Pak-Kin Wong) ； 黃新政(Xin-Zheng Huang) ； 王衡鏘(Hang-Cheong Wong)

《中國機械工程學刊》 33卷2期 (2012/04) Pp. 103-112

https://doi.org/10.29979/JCSME.201204.0002

摘要

本文建立了一個新的基於半車糢型，軸距預瞄和非線性微分器的汽車主動懸架糢型。首先，汽車前軸的路面輸入信息通過傳感器收集後傳到後軸作為預瞄信息，然後在收集的預瞄信息和車輛狀態信息基礎上，一個加入了非線性微分器的改進型PID控制器用來控制産生作用在後軸上的主動力以減少懸架振動。在本文建立的改進型的PID控制器中，經過數值仿真數據所驗證，新加入的非線性微分器的作用是提高系統對於傳感器噪音的魯棒性。同時，仿真結果進一步表明與傳統的PID控制結果相比較，加入了軸距預瞄的改進型PID控制可以更好地減少前軸和後軸彈簧上質量的振動。另外，本文也利用遺傳算法對此新建立的汽車主動懸架系統的數項關鍵設計參數進行系統優化以獲得最優的系統配置和最佳的汽車舒適性。

並列摘要

In this work, a new model of active suspension on a half-car with a wheelbase preview of information and a nonlinear differentiator are developed. First, a sensor placed on the front suspension collects and sends road input as preview information to the rear suspension system. Then, with given preview information and the feedback signal of vehicle state, an enhanced Proportional-Integral-Differential (PID) controller combined with a nonlinear differentiator is used to generate control signal to apply active force on rear suspension in order to attenuate the suspension vibration. The PID controller with a nonlinear differentiator provides more stable results than regular PID control in the presence of noise. The numerical result further shows that with preview information considered, the accelerations of the unsprung masses in the front and rear wheels both decrease in comparison to those of the suspension controlled by regular PID control. The active suspension system developed in this work is then tuned by using Genetic Algorithm (GA) to obtain optimum configurations on several design parameters so as to achieve a better ride quality.

並列關鍵字

active vehicle suspension ； nonlinear differentiator ； wheelbase preview ； genetic algorithm