通过建立2自由度1/4车辆主动悬架模型和电动静液作动器模型，综合机器人柔顺性控制中阻抗控制的优点，分析其在液压式主动悬架的适用性，将位置反馈和力反馈控制应用于液压式主动悬架系统。设计了采用模糊控制的位置反馈控制器和力反馈线性控制器，并以阻抗控制跟踪车轮动载荷得到簧载质量位移修正量。利用Matlab/Simulink搭建B级路面和0.1 m凸起路面激励下的悬架系统模型。仿真结果表明，相对于被动悬架，其车身垂直加速度、悬架动挠度及车轮动载荷的均方根值均有所下降，该控制策略能较好地提高车辆的行驶平顺性和操纵稳定性。
This paper discusses a multi-closed loop control strategy for an active suspension system of a quarter car model operated by an electro-hydrostatic actuator to trade-off between vehicle handling stability and passenger comfort. In order to provide a desirable dynamic behavior of hydraulic active suspension, the closed loop control strategy using fuzzy position feedback controller and linearization force feedback controller and referring to robot compliant control is proposed. The fuzzy position controller is to track a desired body displacement given by the impedance control and the linearization force controller to track a desired force. By using Matlab/Simulink, a vehicle model of suspension system for B road with 0.1 m hump road disturbance is simulated. The result shows that the root mean square values (RMS) of body vertical acceleration, suspension dynamic deflection and tire dynamic load of the active suspension system have been reduced compared to the passive suspension, greatly improving the vehicle handling stability and passenger comfort.
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