对含分数阶阻尼器非线性悬架的PID控制研究

摘要

对由分数阶磁流变阻尼器(分数阶Bingham 模型)和非线性弹簧组成的汽车悬架系统进行PID控制研究，先建立其二自由度非线性悬架数学模型，再根据车辆的舒适性和平顺性要求设计PID控制器，在Matlab/simulink中建立非线性悬架的仿真模型，对PID控制器参数整定，并用Oustaloup逼近算法解算分数阶微积分因子，实现数值仿真。结果表明，该悬架与被动悬架相比，该悬架的平顺性和舒适性有明显的提高，说明在既含有分数阻尼器又含有非线性弹簧时，以PID控制器对悬架进行控制同样有效，对以后研究非线性悬架有一定的指导意义。%The PID control of the vehicle suspension system composed of the fractional order Bingham model and the nonlinear spring is studied,and the mathematical model of the second degree of freedom nonlinear suspension is established, and then ac￣cording to the requirements of the ride comfort the PID control er is designed. The simulation model of nonlinear suspension is estab￣lished in Matlab/simulink, the parameters of PID control er are defined,and the Oustaloup approximation algorithm is used to calcu￣late the fractional order calculus factor and the numerical simulation is realized. The results show that by comparison between this suspension and the passive suspension,the ride comfort with this suspension is significantly improved. This shows that with the frac￣tional dampers and the nonlinear spring,PID control er is used to effectively control the suspension al the same. It is of guiding sig￣nificance for the future study of the nonlinear suspension.