中文摘要：

在分析半车悬架结构不确定性的基础上,建立了磁流变减振器半主动控制的半车模型,设计了鲁棒控制框图和鲁棒控制器。为了提高运行速度和便于工程实现,对所设计的高阶控制器进行了降阶处理,并进行了被动悬架、标准鲁棒控制半主动悬架和降阶控制器半主动悬架的频域分析。结合鲁棒控制器和半主动控制策略,在Simulink环境下构建了完成了被动悬架和降阶鲁棒控制器组成的半主动悬架时域仿真模型,对车辆在不同等级路面、不同行驶速度情况下的舒适性进行了全面的仿真研究和分析。仿真证明,所设计的鲁棒控制器和处理方法满足工程需要,相对于被动悬架车辆簧载质量垂向振动均方根值降低了14.1%以上,俯仰角架速度均方根值降低了31%以上,控制效果良好,乘坐舒适性得到提高。

英文摘要：

Through uncertainty analysis of half-car structure,the Magnetorheological Fluid（MRF） damper half-car model of semitive control were established,and Robust block diagram and robust controller were designed.To rise operation rate and engineering implement conveniently,the high order controller is been reduced.Frequency analysis been done for passive,and standard rubust controller and reduced controller suspension.Combined with robust controller and semiactive control tactics,the time domain simulation model were been build for two models in Simulink.The simulation analysis is been done for different velocity in BC level road.It can prove,the designed controller and methods can satisfy engineering requirement.Compare with passive suspension,the spring mass verticl vibration acceleration RMS of semitive suspension lower 14.1%,and spring mass pitch angle acceleration RMS reduce 31%,the control result is well and ride comfort can improve.