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采用纯输入时滞表示主动悬架系统的时滞现象,建立含时滞1/4主动悬架系统的动力学模型,用PID策略实施闭环控制,通过Routh-Hurwitz稳定判据推导出系统稳定性条件,得到系统临界稳定时的时滞量大小。通过MATLAB/SIMULINK分别仿真悬架系统对阶跃输入与谐波输入的响应,结果表明,时滞的存在降低了系统控制效果,超过临界时滞时系统失稳,临界时滞量大小与控制器参数、系统其他参数等诸多因素有关,数值算法与仿真步长的选择对计算结果有较大影响。
The pure input skew is used to represent the time-delay of the active suspension system, and the dynamic model of the active suspension system with time-delay is established. The closed-loop control is implemented with PID strategy and the stability of the system is deduced by Routh-Hurwitz stability criterion Condition, get the system critical stability time lag size. The simulation of suspension system response to step input and harmonic input by MATLAB / SIMULINK respectively shows that the existence of time delay reduces the system control effect, and the system instability occurs when the critical time delay is exceeded. The critical time delay is proportional to the controller Parameters, other parameters of the system and many other factors, the selection of numerical algorithms and simulation steps have a greater impact on the calculation results.