主动悬架系统建模及力跟踪控制

以提高平顺性为目的，对主动悬架系统建模及力跟踪控制进行研究. 主动悬架控制结构由外环及内环两部分组成:外环根据车辆模型状态量及路面扰动情况计算最优控制力，内环体现系统作动器动力学特性，并对外环产生的最优控制力进行跟踪. 针对内环系统特点，建立油气主动悬架作动器线性化模型并运用PI控制算法控制跟踪误差；外环系统采用LQG控制输出最优控制力. 仿真结果表明，与被动悬架相比，采用力跟踪方式的主动悬架系统能够有效改善车辆平顺性，并能够较好跟踪外环控制产生的最优控制力. 

Modeling and Force Tracking Control for Active Suspension System

To improve riding comfort of vehicles, modeling and force tracking control for an active suspension system was presented. The controller structure of active suspension system was divided into two loops: outer loop and inner loop. The outer loop calculated the optimal force depending on the states of vehicle model and the road disturbances. The inner loop was used to keep the actual force which was generated by the actuator to close the target force. A linear actuator model was established and the error of tracking was controlled by the PI algorithm, LQG technique was used to generate the target force. The performance of force tracking shows significant improvement in body acceleration as compared to the passive suspension system and being able to track the target force well.