摘要
在建立含时滞的车辆1/4主动悬架动力学微分方程模型的基础上,通过PID控制策略及含时滞的线性常微分方程理论推导出了模型的稳定条件,采用了Routh-Hurwitz稳定判据的方法分析了模型的稳定性条件,计算出了系统的临界失稳时滞时间。通过Matlab/Simulink实例仿真,结果表明当取临界时滞时间0.153 s时,与无时滞PID控制相比,簧载质量垂向加速度幅值范围及均方根值增加了1.2倍左右,系统处于临界稳定。当时滞时间τ=0.18 s时,簧载质量垂向加速度幅值范围及均方根值急剧增加了2.5倍左右,系统出现不稳定的混乱振动状态。计算分析与仿真结果证明了Routh-Hurwitz稳定判据能为主动悬架设计及时滞失稳机理奠定理论基础。
With the building of the dynamics differential equation model of 1/4 vehicle active suspension with time-delay, The stability conditions of the model were deduced by the PID control strategy and the theory of linear ordinary differential equation with time-delay, the stability of model was analyzed by the Routh-Hurwitz stability criterion and the critical instability lag-time was discussed and calculated. By the example simulation in Matlab/Simulink, the results show that when the critical lag- time is 0. 153 s, comparing with PID control method of without time-delay the amplitude range and its root mean square value of spring load quality vertical acceleration were increased 1.2 times or so and the system was being on the critical stability. When the critical lag-time is 0. 18 s, the amplitude range and its root mean square value of spring load quality vertical acceleration were increased 2. 5 times rapidly comparing with PID control method of without time-delay and the system was being on the instability and chaos vibration station. The calculation and simulation results proved that the theory of Routh-Hurwitz stability criterion lay a foundation for the design and instability mechanism of active suspension.
出处
《机械强度》
CAS
CSCD
北大核心
2014年第5期682-686,共5页
Journal of Mechanical Strength
基金
天津市自然科学基金重点项目(12JCZDJC34500)资助~~
