Characteristics Research Based On PID Control And Fuzzy-PID Control Of A Double-diamond Bionic Kangaroo Leg Suspension

The main function of the vehicle suspension system is to reduce the vibration impact caused by uneven road surfaces,improve ride comfort and handling stability.With the increasingly stringent requirements for vehicle comfort and safety,suspension design is facing severe challenges.The study found that kangaroos run fast and move steadily while jumping,and these characteristics are attributed to their long-evolved leg structure.Inspired by this,this paper proposes a double-diamond bionic kangaroo leg suspension and applies it to the vehicle to explore the behavior of the suspension under different working conditions and different modes.In this paper,by analyzing and refining the kangaroo leg limbs and their functions,the biological structure is transformed into an engineering structure,and a double-diamond bionic kangaroo leg suspension structure is constructed.The dynamic model is derived using the Lagrange equation method;in addition,the kangaroo can It is known to jump quickly and steadily on complex terrain.The motion control of kangaroo shows a simple and fast adaptive characteristic,which is similar to the control characteristics of PID and Fuzzy-PID.Therefore,this paper designs PID and Fuzzy-PID controllers for the double-diamond bionic kangaroo leg suspension.Under the MATLAB/simulink environment,the quilt and active simulation models are established,and the road roughness is used as the input of the suspension system.the vehicle vertical acceleration,the suspension deflection,the tire dynamic displacement,vehicle vertical acceleration transmissibility and the tire dynamic displacement transmissibility and other parameters are evaluation indicators.Based on A～E level random road excitation,the double-diamond bionic kangaroo leg suspension of the parameter characteristicsis in active mode and passive mode are analyzed in time domain and frequency domain to explore the behavior characteristics of the suspension under different working conditions and different modes.The results show that: 1)under different working conditions,the various parameters of the double-diamond bionic kangaroo leg suspension are within a reasonable range;2)PID control and Fuzzy-PID control can improve the active performance of the double-diamond bionic kangaroo leg suspension;Compared with PID control,the comfort performance under Fuzzy-PID control is better.3)The first-order natural frequency of this suspension is near 0.8Hz,and the second-order natural frequency is near 15 Hz,whichavoids human sensitive frequency domain 4～8Hz.In summary,the double-diamond bionic kangaroo leg suspension has good road adaptability,high-speed comfort and stability,which verifies the rationality and effectiveness of the suspension structure design,the correctness and feasibility of the bionic scheme,and control effectiveness of the method.