Fractional Order PID Control Based on Ball Screw Energy Regenerative Active Suspension

Abstract

A ball screw type energy regenerative active suspension under fractional order PID control is proposed and studied in order to improve the vibration damping performance of the suspension. A mathematical model of the energy regenerative actuator is established, the energy recovery power at different frequencies is measured through experiments, and then the electromagnetic torque constant, representing the proportional relationship between the output torque and current of the motor, is calculated according to the experimental results. A mathematical model of the control circuit is established and the feasibility and the superiority of the fractional order PID control are verified by simulation and experiments. To achieve a better damping effect, the fractional order PID controller of the whole vehicle suspension system is parameterized using the Beetle Antenna Search (BAS) algorithm. The results showed that the mean energy recovery power of the actuator was about 3.5091 W at a vibration frequency of 11/6 Hz, and the electromagnetic torque constant of the motor was about 0.2885. The actuator control circuit was feasible, and the root mean square value of current deviation under fractional order PID control was 1.1158 mA, which was optimized by 9.40%, compared to the PID control. The BAS algorithm effectively realized the parameter tuning of the controller, and both the tuned PID and fractional order PID controllers, achieved optimization of suspension damping performance. The optimal value of the damping performance objective function under fractional order PID control was 0.3270, which was optimized by 62.93%, compared to the PID control. In addition, all suspension performance indices under fractional order PID control were optimized to a certain extent, compared with the PID control.