【摘要】 阐述分数阶PID控制系统的设计，实现对半主动悬架进行控制。针对矿车悬架控制不能根据路面等级实时改变控制器参数的问题，使用混合模拟退火（SA）算法与粒子群（PSO）算法对不同等级路面下分数阶PID的控制参数进行优化。通过优化使评估环节的函数值达到最小，从而得出不同等级路面中相应的控制器最优参数组合，并进行仿真测试。更多还原

【Abstract】 This paper describes the design of a fractional order PID control system to achieve control of semi-active suspension. It addresses the problem that the suspension control of mining vehicles cannot change the controller parameters in real time based on the road level. A hybrid simulated annealing(SA) algorithm and particle swarm optimization(PSO) algorithm are used to optimize the control parameters of fractional order PID under different road levels. By optimizing to minimize the function value of the evaluation process, it obtains the optimal parameter combination of the corresponding controller in different levels of road surfaces and conducts simulation tests.更多还原