基于MATLAB/Simulink的主动悬架PID与LQR控制策略仿真对比研究

Simulation Comparison Study of PID and LQR Control Strategies for Active Suspension Based on MATLAB/Simulink

摘要: 汽车悬架系统是决定车辆平顺性、操纵稳定性及行驶舒适性的核心部件。为对比不同控制策略对主动悬架的控制效果，本文以1/4主动悬架系统为研究对象，基于牛顿第二定律建立其动力学微分方程，并进一步推导得到状态空间方程，且验证了系统的能控性与能观性。利用MATLAB/Simulink仿真软件搭建仿真环境，以白噪声信号模拟随机路面输入，分别设计PID控制策略与LQR最优控制策略，围绕车身加速度、悬架动挠度及轮胎动位移三大核心评价指标，对比分析两种控制策略的仿真结果，明确二者在主动悬架控制中的性能优势差异，为悬架控制策略的优化选择提供参考。

Abstract: The automotive suspension system is a core component that determines vehicle ride comfort, handling stability, and driving smoothness. To compare the control effects of different control strategies on active suspensions, this study takes a 1/4 active suspension system as the research object. Dynamic differential equations are established based on Newton’s second law, and the state-space equations are further derived with verification of the system’s controllability and observability. Using MATLAB/Simulink simulation software to build the simulation environment, white noise signals are adopted to simulate random road inputs. PID control strategy and LQR optimal control strategy are designed respectively. Centering on three core evaluation indicators—body acceleration, suspension dynamic deflection, and tire dynamic displacement—the simulation results of the two control strategies are compared and analyzed. The differences in performance advantages between the two in active suspension control are clarified, providing a reference for the optimal selection of suspension control strategies.