座椅悬架和汽车悬架的集成变增益LQR控制

利用模糊控制理论和最优控制理论，提出了一种基于模糊控制的车辆主动悬架和座椅主动悬架的集成变增益LQR控制方法.在建立“车-椅”三自由度动力学模型的基础上，以底盘垂向加速度和座椅垂向加速度为控制目标，以车轮动态位移、车辆悬架动行程范围小于规定值为约束条件，设计出了车辆悬架和座椅悬架变增益LQR控制器，并用Matlab/Simulink进行了仿真实验分析与比较，得出该控制方法对座椅悬架和车辆悬架有较好的控制效果，验证了集成变增益LQR控制方法的有效性和可行性，为未来悬架系统控制的研究提供了参考.

Integrated Variable Gain LQR Control of Seat Suspension and Automobile Suspension

Based on the fuzzy control theory and optimal control theory， an integrated variable gain LQR(linear quadratic regulator)control method based on fuzzy control for vehicle active suspension and seat active suspension is proposed. Based on the establishment of "car-chair" three-degree-of-freedom dynamics model， taking the vertical acceleration of vehicle body and seat vertical acceleration as the control target and the dynamic displacement of the wheel and the range of vehicle suspension motion less than the specified value as the constraint conditions， the vehicle suspension and seat suspension variable gain LQR controller is designed， and the simulation experiment analysis and the comparison with Matlab/Simulink are carried out， whose results indicate that this control method has better control effect on seat suspension and vehicle suspension， and the validity and feasibility of the integrated variable gain LQR control method are verified， which could provide a reference for the future research of suspension system control.