The invention discloses an automobile active suspension control method based on a parameter real-time adjustable PID (Proportion Integration Differentiation) controller, which specifically comprises the following steps of establishing a whole automobile dynamic model in carsim, establishing various simulation working conditions for testing automobile driving performance, and setting input and output variables relative to simulink; firstly, enabling a carsim to output a simulation result of an automobile under the current working condition to a PID controller with real-time adjustable parameters, enabling the PID controller to determine the damping force of a shock absorber according to a certain control logic and transmit the damping force back to the carsim through simulink, and enabling the carsim to calculate all indexes of the automobile again and output the indexes to the simulink; judging whether each index is in an expected range or not by the simulink, and if a certain index is not in the expected range, adjusting the damping force of the shock absorber by the PID controller and inputting the damping force to the carsim again, until all indexes simulated by carsim are in an expected range. According to the method, a carsim andmatlab\simulink joint simulation mode is adopted, a unified simulink simulation framework is adopted, multi-scene and multi-target control of the vehicle is carried out, and a remarkable control effect is achieved.
本发明公开了一种基于参数实时可调PID控制器的汽车主动悬架控制方法,具体为:在carsim中建立整车动力学模型,建立各种测试汽车行驶性能的仿真工况,设定好相对simulink的输入输出变量;首先,carsim将汽车当前工况下仿真结果输出给参数实时可调的PID控制器,PID控制器按一定控制逻辑确定减振器阻尼力并由simulink回传给carsim,carsim再次计算汽车的各指标并输出给simulink;由simulink判断各指标是否在期望的范围内,如果存在某指标不在期望的范围内,PID控制器对减振器阻尼力进行调整并再次输入给carsim;直至carsim仿真出所有指标均在期望的范围内。本发明采用carsim与matlab\simulink联合仿真的方式,采用统一的simulink仿真框架,进行车辆的多场景多目标控制,取得了显著的控制效果。
Automobile active suspension control method based on parameter real-time adjustable PID controller
一种基于参数实时可调PID控制器的汽车主动悬架控制方法
2021-04-30
Patent
Electronic Resource
Chinese
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