中文摘要：

针对已开发的电磁式悬架作动器样机进行数学建模,并采用主环/内环分层式结构对其进行主动控制.通过对内环系统的简化分析得到控制电流可实现范围以及不同条件下作动器能量流动状态,并采用模型预测控制方法设计了全主动和半主动2种模式的主环控制器,分别侧重于车辆悬架系统振动抑制和不平路面振动能量回收.在不同路面输入条件下进行仿真对比分析,结果表明,相对于传统被动悬架,电磁式悬架作动器在全主动模式下消耗蓄电池能量,但可以将车辆乘适性提高30%,而在半主动模式下可以回收路面振动能量并将车辆乘适性提高10%.

英文摘要：

The mathematical model for the developed electromagnetic actuator was established and a main/inner-loop control structure was proposed for its active control.The physical constraints of control current and the energy flow states of the inner-loop system were analyzed and a two-mode controller which respectively emphasizes on vibration control and energy regeneration was designed for the main-loop.Simulations were carried out with different road inputs and the results demonstrate that the former mode can improve vehicle ride comfort by more than 30% with battery energy consumption while in the latter mode the ride comfort can be improved by up to 10% with battery charged by regenerated energy.