关键词: 萤火虫PID算法, 电机作动器悬架, 半实物仿真

Abstract: In order to enhance the performance of automobile suspension, a glowworm-PID (Proportion-Integral-Differentiation) algorithm was put forward. Firstly, on the basis of analyzing the basic principle of glowworm-PID algorithm, the glowworm-PID algorithm for motor actuator suspension was developed and the steps and flow diagram of the algorithm were given. Secondly, traditional motor actuator was improved and mathematical model and simulation model of 4 degrees of freedom motor actuator suspension were built. Hardware-In-the-Loop Simulation (HILS) algorithm testing system of active suspension was developed by taking dSPACE as the carrier of the simulation model. Lastly, simulation experiments of testing Glowworm-PID algorithm were carried out on the testing system with different vehicle data and road input. The simulation results indicated that Glowworm-PID algorithm designed in this paper could reduce acceleration of vehicle bodies, working space of suspensions and moving displacement of tires, and so on.

Key words: glowworm-PID algorithm, motor actuator suspension, Hardware-In-the-Loop Simulation (HILS)