中文摘要：

汽车悬架控制系统是一个由较多非线性因素共同作用的复杂系统，针对传统PID控制效果不理想的问题，通过数值拟合的方式引入弹簧与阻尼等非线性影响因素，建立1／4汽车悬架非线性动力学模型，借鉴免疫反馈原理，结合积分控制的规律，提出一种模糊免疫PID（proportion integral derivalive）控制方法，并利用免疫进化算法进行参数优化设计。仿真结果表明，该方法在汽车非线性悬架控制系统中可行且有效，其控制器性能也优于常规的PID控制器，具有更好的响应特性，同时也提高了汽车的操作稳定性和乘坐舒适性。

英文摘要：

In the process of automotive suspeusion control, nonlinear characteristics could not be expressed accurately after lin- earization transaction. With digital approximation, nonlinear influence factor had been put into system, such as spring and damp. A quarter nonlinear dynamic model of automotive suspension was get. According to the immune feedback principle and the nonlinear change law of the integral gain in the response process of the system, a fuzzy irmnane PID （p~,oportian integral derivative ） control method was proposed. The simulation results show the feasibility and effectiveness of the method in nonlinear automotive suspension control system, and the method is superior to PID method on the response characteristic. Ride comfort and maneuvering performance are improved greatly.