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| Characteristics study based on PID and Fuzzy-PID control of a double-diamond bionic kangaroo leg suspension |
| SONG Yong,DU Rui,LI Zhanlong,YAN Bijuan,ZHANG Xin,LIAN Jinyi,ZHI Jinning |
| School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China |
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Abstract In order to improve the performance of traditional vehicle suspension, a double-diamond bionic kangaroo leg suspension was proposed based on the kangaroo leg structure evolved from nature. In order to study the behavior characteristics of the suspension, a dynamic model was established by the Lagrange’s Equations; PID and Fuzzy-PID controllers were designed respectively based on the dynamic model; passive and active simulation models were established and the simulation characteristic was analyzed through MATLAB/simulink. It is found that: ① In the passive and active modes, with the increase of vehicle speed and road grade, root mean square values of the body vertical acceleration, the suspension deflection and the tire dynamic displacement increase and they are limited in the allowable ranges. ② Under different road levels, with the increase of vehicle speed, the body vertical acceleration transmissibility values are basically the same, and it has a monotonous decreasing trend. (For example, the body vertical acceleration transmissibility in passive mode is 1.64%~0.80%), but the control effect of the active mode is better than that of the passive mode, and the control effect of Fuzzy-PID control is better than that of PID control (approximately 0.5%~0.6%); ③ At different road levels, with the increase of vehicle speed, the value of the dynamic displacement transmissibility increases in active and passive modes, but the numerical increase rate presents a downward trend. Seen from the value of the transmissibility, the active mode is significantly lower than the passive mode (about 15% to 25% reduction, decreasing significantly at high speed), but the effects of Fuzzy-PID control and PID control are basically the same. ④ From the frequency response characteristics of vehicle body acceleration, suspension deflection, and tire dynamic displacement transmissibility, it can be seen that the double-diamond bionic kangaroo leg suspension has two peaks. The first peak is near 0.8 Hz, and the second peak is around 15 Hz; the comfort and stability of the suspension is better in the active mode than in the passive mode. Fuzzy-PID control is better than PID control. The research results show that: the structure design of the proposed suspension is reasonable and the scheme is feasible; the suspension has good road adaptability, high-speed comfort and stability. These characteristics are consistent with the kangaroo leg motion characteristics, which verifies the correctness of the research ideas and the effectiveness of the control method.
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Received: 07 January 2020
Published: 15 October 2020
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