matlab汽车作动器的力跟踪控制

摘要随着经济的发展，人们对汽车的舒适性和安全性的要求越来越高。与传统的被动悬架系统相比，主动悬架系统能显著提高汽车的安全性和舒适性。汽车作动器是主动悬架系统的核心部件之一，主要作用是将控制信号转换为位移，力等机械量。目前常用的作动器类型主要有液压作动器，电磁作动器，气压作动器，压电陶瓷等。本文以汽车作动器为研究对象，利用多体动力学理论，对汽车液压作动器进行研究分析。首先了解汽车作动器的结构，对作动器结构进行动力学分析，建立对称阀控对称缸系统的数学模型。在汽车作动器数学模型建立的基础上，利用 matlab/Simulink 对其性能进行仿真分析，了解作动器的稳定性及力跟踪性能。PID 控制是目前应用最广泛也是最基础的控制器，设计 PID 控制器可以提高汽车作动器的力跟踪性能。滑模变结构控制是一类特殊的非线性控制，在电机，机器人控制，液压伺服控制系统等方面有着广泛的应用，设计滑模控制器能更好的改善汽车作动器的力跟踪控制性能。最后在matlab/Simulink 中对汽车作动器力跟踪系统进行仿真研究，分析 PID 控制器和滑模控制器对力跟踪性能的影响。43129
毕业论文关键词汽车作动器 PID 滑模控制 matlab/simulink
Title The Force Tracking of Vehicle Actuator
Abstract With the development of economy, people's demand of comfort and safety of automobiles have been increasing. Compared with traditional passive suspension systems, active suspension systems can significantly improve vehicle safety and comfort. Actuator is one of the core components of the active suspension system, the main function is to translate the control signal into the displacement ,stress and so on. At present, the main types of actuator are hydraulic actuators, electromagnetic actuators, pneumatic actuators. In this paper, based on the theory of multi-body dynamics, the vehicle hydraulic actuator is studied and analyzed. First of all, to understand the structure of the actuator, the dynamic analysis of the actuator structure, the mathematical model of symmetric cylinder control system is established. On the basis of the mathematical model of the motor vehicle, the performance of the actuator is simulated and analyzed by using matlab/Simulink, and the stability and force tracking performance of the actuator are analyzed. PID control is the most widely used and the most basic strategy. The design of PID controller can improve the force tracking performance of the vehicle actuator. Sliding mode variable structure control is a kind of special nonlinear control. It has been widely used in the motor, robot control, hydraulic servo control system. The sliding mode controller can improve the performance of vehicle force tracking control. Finally, simulation research is carried out on the vehicle actuator force tracking system in matlab, and the effect of the PID controller and the sliding mode controller on the force tracking is analyzed.
Keywords vehicle actuator; PID; sliding mode control; matlab/simulink

1引言1

1.1课题研究背景1

1.2课题研究的目的及意义1

1.3汽车作动器力控研究进展2

2汽车作动器建模及仿真分析5

2.1汽车作动器的物理模型5

2.2汽车作动器的数学建模及仿真分析8

3PID控制及系统仿真13

3.1PID控制13

3.2基于PID控制的汽车作动器系统仿真14

4滑模变结构控制及系统仿真18

4.1滑膜变结构控制简介18

4.2滑膜变结构控制基本原理20

4.3滑模控制器的设计21

4.4基于滑模变结构控制的系统仿真与分析23

结论25

致谢26

参考文献27

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