matlab汽车作动器的力跟踪控制
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
目次
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