标题： 具有鲁棒LQR控制器的主动汽车悬架在道路干扰、参数不确定性和白噪声下的建模与仿真 显示英文标题

标题： Modeling and Simulation of an Active Car Suspension with a Robust LQR Controller under Road Disturbance, Parameter Uncertainty and White Noise

摘要： 车辆悬架对于乘客舒适旅行以及减少振动和冲击等影响非常重要。 良好的悬架系统可以提高车辆的抓地力，使其安全转弯，并降低交通事故的风险。 由于结构简单且成本低，被动悬架系统是目前车辆中最广泛使用的悬架系统。 被动悬架系统没有执行器，因此也没有控制器。 主动悬架系统有执行器和控制器。 尽管它们的结构更复杂且成本更高，但更安全。 由于结构简单、成本合理且系数易于调整，PID控制器在主动悬架系统中被广泛使用。 在本研究中，设计了一种比被动悬架和PID控制的主动悬架更具鲁棒性的LQR控制主动悬架。 对被动悬架、PID控制的主动悬架和LQR控制的主动悬架进行了鲁棒性分析。 在道路扰动、同时存在道路扰动和参数不确定性以及带有白噪声的道路扰动条件下，对三种悬架进行了悬架行程、簧上质量加速度和簧上质量运动的仿真。 通过获取不同条件下悬架的上升时间、超调量和调节时间数据进行了比较分析。 观察到LQR控制的主动悬架具有最快的上升时间、最小的超调量并且调节时间最短。 在这种情况下，证明了LQR控制的主动悬架相比其他两种悬架系统提供了更舒适和安全的乘坐体验。 显示英文摘要

摘要： Vehicle suspension is important for passengers to travel comfortably and to be less exposed to effects such as vibration and shock. A good suspension system increases the road holding of vehicles, allows them to take turns safely, and reduces the risk of traffic accidents. A passive suspension system is the most widely used suspension system in vehicles due to its simple structure and low cost. Passive suspension systems do not have an actuator and therefore do not have a controller. Active suspension systems have an actuator and a controller. Although their structures are more complex and costly, they are safer. PID controller is widely used in active suspension systems due to its simple structure, reasonable cost, and easy adjustment of coefficients. In this study, a more robust LQR-controlled active suspension was designed than a passive suspension and a PID-controlled active suspension. Robustness analyses were performed for passive suspension, PID-controlled active suspension, and LQR-controlled active suspension. Suspension travel, sprung mass acceleration, and sprung mass motion simulations were performed for all three suspensions under road disturbance, under simultaneous road disturbance and parameter uncertainty and under road disturbance with white noise. A comparative analysis was performed by obtaining the rise time, overshoot, and settling time data of the suspensions under different conditions. It was observed that the LQR-controlled active suspension showed the fastest rise time, the least overshoot and had the shortest settling time. In this case, it was proven that the LQRcontrolled active suspension provided a more comfortable and safe ride compared to the other two suspension systems.