基于AHP的车辆主动悬架LQG控制器设计

基于层次分析法（AHP）设计了一种能够降低车身加速度（BA）、悬架动行程（SWS）和轮胎动位移（DTD）的车辆主动悬架线性最优（LQG）控制器。首先建立了2自由度1/4车辆主被动悬架动力学模型；然后采用AHP确定了悬架各性能评价指标的加权系数并利用最优控制理论设计了车辆主动悬架控制器；最后在Matlab/Simulink环境下进行了仿真分析。对仿真结果进行对比后表明：在特定工况下通过对加权系数的合理选取，BA、SWS和DTD比被动悬架分别减小了18.73%、22.22%和4.76%，且主动控制力的均方根值为535.3994N。

Design of a LQG controller for a vehicle active suspension system based on AHP

Based on the Analytic Hierarchy Process (AHP), a Linear Quadratic and Gaussian distributed (LQG) controller for active suspension was designed, which could depress the body acceleration (BA), suspension working space (SWS) and dynamic tyre displacement(DTD). The 2 DOFs dynamic model of 1/4 vehicle passive and active suspension were firstly established. Then, the weighting coefficients of all performance evaluation indicators were determined by adopting to AHP and a LQG controller for vehicle active suspension system was devised by applying optimal control theory. Finally, the models were simulated and analyzed under the Matlab/Simulink environment. The simulation results comparision illustrate that with proper selection of weighting coefficients, the BA, SWS and DTD are 18.73%、22.22% and 4.76% lower than the passive suspension, the RMS of active control force is 535.3994N.