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对采用油气主动悬架的车辆车身高度进行控制时，由于摩擦力的影响，采用常规ＰＩＤ等传统控制策略系统存在振荡现象。为解决这个问题，通过分析悬架位移误差的相轨迹图，对ＰＩＤ控制的积分项系数进行切换控制，从而设计出了一种变结构与ＰＩＤ联合控制策略。仿真结果表明，与传统ＰＩＤ控制策略相比，此控制策略在消除系统振荡、获得较高控制精度等方面具有较好的控制性能。
When controlling the height of the vehicle body using the active suspension of oil and gas, due to the influence of friction, the traditional control strategy system such as the conventional PID has the phenomenon of oscillation. In order to solve this problem, a joint control strategy of variable structure and PID is designed by analyzing the phase locus of the displacement error of the suspension and switching the integral coefficient of the PID control. Simulation results show that compared with the traditional PID control strategy, this control strategy has better control performance in eliminating system oscillation and obtaining higher control accuracy.