基于Lyapunov稳定性理论的磁流变半主动悬架整车控制

研究了1种磁流变减振器半主动悬架整车控制策略。对每个车轮的悬架系统，以一理想的Skyhook半主动悬架系统作为参考模型，用Lyapunov稳定性理论建立控制策略，使之追踪参考模型。以车体的俯仰角和侧倾角为控制目标建立整车模型控制法则。结果表明：此控制策略比传统的Skvhook控制策略优越，能很好地追踪参考模型，对模型参数的变化有良好鲁棒性，他车身的速度、加速度降低10％。

Semi-active Suspension Controller Based on Lyapunov Stability Theory of a Full Car Model Employing Magnetorheological Dampers

A new semi-active suspension system controller model of a full car employing magneto-rheological (MR) dampers is presented. In this proposed controller, a desired semi-active suspension system is chosen as the reference model to be followed by using Lyapunov stability theory in each wheel suspension. A full car model control law is also established through controlling pitch and roll angle of car body based on controlling each wheel suspension independently. The results indicate that the proposed controller is more effective than the conventional skyhook law in vibration isolation performance and can better track the reference model states, achieve high robustness against model uncertainties and disturbances and reduce the car body velocity and acceleration by 10 %.