matlab 遗传算法GA优化汽车四分之一车体主动悬架PID

Posted 2022-10-28 studyer_domi

1、内容简介

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2、内容说明

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3、仿真分析

 

clear
clc
close all
warning('off')
load x1.mat
x = x1;
kp1 = x(1);
kp2 = x(4);
kp3 = x(7);

ki1 = x(2);
ki2 = x(5);
ki3 = x(8);

kd1 = x(3);
kd2 = x(6);
kd3 = x(9);

ms=240;       %车身质量(kg)
mu=36;        %悬挂质量(kg)
ks=16000;    %非线性悬架弹性系数(N/m)
ku=160000;     %轮胎弹性系数(N/m)
c=1650;      %悬架阻尼比
p=0.1;
L=100;
Gq=256*10^(-6);
nq=0.011;
n0=0.1;
u=10;
t=L/u;
t1=1./(u.*n0)./20;  %采样周期 
sim('beidongzhudong2.mdl');
sim('beidongzhudong3.mdl');

%% 合并在一起的图
figure
plot(tt1,jsd1,'b'),hold on
plot(tt3,jsd3,'--r')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Body Acceleration \\ita/(m/s^2)','FontSize',12,'FontName','Times New Roman')
h=legend('Passive','PID Active','FontSize',12,'FontName','Times New Roman');
set(h,'Box','off');

figure
plot(tt1,nd1,'b'),hold on
plot(tt3,nd3,'--r')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Suspension Disturbance \\it(z_s-z_u)/(m)','FontSize',12,'FontName','Times New Roman')
h=legend('Passive','PID Active','FontSize',12,'FontName','Times New Roman');
set(h,'Box','off');

figure
plot(tt1,zh1,'b'),hold on
plot(tt3,zh3,'--r')

grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Tire Movement \\it(z_u-z_r)/(m)','FontSize',12,'FontName','Times New Roman')
h=legend('Passive','PID Active','FontSize',12,'FontName','Times New Roman');
set(h,'Box','off');

%% 分开的图
figure
plot(tt1,jsd1,'b')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Body Acceleration \\ita/(m/s^2)','FontSize',12,'FontName','Times New Roman')
title('Passive','FontSize',12,'FontName','Times New Roman')
figure
plot(tt3,jsd3,'--r')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Body Acceleration \\ita/(m/s^2)','FontSize',12,'FontName','Times New Roman')
title('PID Active','FontSize',12,'FontName','Times New Roman')

figure
plot(tt1,nd1,'b')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Suspension Disturbance \\it(z_s-z_u)/(m)','FontSize',12,'FontName','Times New Roman')
title('Passive','FontSize',12,'FontName','Times New Roman')
figure
plot(tt3,nd3,'--r')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Suspension Disturbance \\it(z_s-z_u)/(m)','FontSize',12,'FontName','Times New Roman')
title('PID Active','FontSize',12,'FontName','Times New Roman')

figure
plot(tt1,zh1,'b')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Tire Movement \\it(z_u-z_r)/(m)','FontSize',12,'FontName','Times New Roman')
title('Passive','FontSize',12,'FontName','Times New Roman')
figure
plot(tt3,zh3,'--r')
grid on
xlabel('Time \\itt/s','FontSize',12,'FontName','Times New Roman')
ylabel('Tire Movement \\it(z_u-z_r)/(m)','FontSize',12,'FontName','Times New Roman')
title('PID Active','FontSize',12,'FontName','Times New Roman')

 

 

 

4、参考论文

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