基于动态输出反馈的半车主动悬架系统鲁棒控制

研究了半车主动悬架系统基于输出反馈的干扰抑制鲁棒控制问题。首先建立了半车主动悬架系统的动力学模型，然后针对车体位置和速度、车身俯仰角度和角速度、前后车轮位置和速度无传感器测量情况下，系统中还存在非线性和外界扰动的现象，提出了一种动态输出反馈鲁棒干扰抑制控制策略。理论推导和仿真结果都证明了所设计控制器的正确性和有效性，通过和传统的PID控制算法相对比，进一步说明所设计的控制器能提高汽车的行驶平顺性和操作稳定性。

Output feedback based Robust Control for Half-Car Hydraulic Active Suspension System

Robust disturbance attenuation problem based on output feedback is investigated for the half-car hydraulic active suspension system. First, the dynamic model of the half-car hydraulic active suspension system is established. Then, in the light of direct measurement not suitable for the position and velocity of car body, the pitch angle and angular velocity automobile body, the position and velocity of front- and rear-wheels, besides, nonlinearity and external disturbance, a dynamic output feedback control strategy with robust disturbance attenuation is proposed. The effectiveness of the designed controller is demonstrated by both theoretical analysis and simulation results. By comparison with the conventional PID algorithm, the improvement in ride comfort as well as the enhancement in handling and stability of vehicle can be further achieved by the controller in this paper.