Abstract: In order to improve the performance of passive suspension and the ride comfort of vehicle, this paper uses ADAMS and Simulink co-simulation method to study the 2-dOF semi-active suspension based on proportion integration differentiation (PID) controller. The dynamic simulation model of 2-dOF semi-active suspension was established in ADAMS and output to Simulink by “Control” module. In Simulink, class B road models at different speeds are generated by filtering white noise method and PID controller is adopted, the sprung mass acceleration and active control force are taken as the input and output of the controller respectively. The time domain characteristics of the vertical acceleration, the dynamic stroke of the suspension and the dynamic load of the wheel are obtained and analyzed. The simulation results show that the semi-active suspension with PID controller can significantly improve the vertical acceleration and ride comfort at different speed stages without deteriorating the stability and safety. Meanwhile, the co-simulation greatly simplifies the modeling process and makes the simulation more intuitive.

Key words: ADAMS; Simulink; Co-simulation; PID controller; Semi-active suspension; Road model

摘要： 为了提高被动悬架的性能，改善车辆行驶时的平顺性，文章采用 ADAMS 与 Simulink 联合仿真的方法，对基于比例-积分-微分（PID）控制器的二自由度半主动悬架进行研究。在 ADAMS 中建立二自由度半主动悬架动力学仿真模型并通过 Control 模块输出到 Simulink 中， 在 Simulink 中以滤波白噪声法生成不同车速下的 B 级路面模型；并采用 PID 控制器，分别以 簧载质量加速度和主动控制力作为控制器输入量及输出量，获得并分析了车身的垂直加速度、 悬架的动行程、轮胎动载荷的时域特性。仿真结果表明，采用 PID 控制器的半主动悬架在不 恶化操稳性和安全性的情况下，在不同车速阶段可显著改善车身垂直加速度，提高乘坐舒适 性；同时联合仿真极大地简化了建模过程，使仿真更加直观。

关键词: ADAMS；Simulink；联合仿真；PID 控制器；半主动悬架；路面模型