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中文摘要：
鉴于车辆簧上质量的振动和车轮的振动耦合,特别是转向工况下,车轮转向角对车辆侧倾的影响,为减小车辆的侧倾并有效抑制车辆的振动,建立了带主动悬架的整车模型,并运用微分几何理论设计了侧倾及减振控制律,对整车模型进行解耦.经过解耦后,簧上质量的俯仰、侧倾和垂向运动互相独立;车轮转角对车辆侧倾的影响得到有效的抑制.仿真结果表明,采用微分几何解耦后,车辆的侧倾角、俯仰角和垂向振动以及横摆角速度的超调量皆大幅度地减小,车辆乘坐的舒适性和转向的稳定性显著提高.
英文摘要：
In view of the coupling between the vibration of sprung mass and wheels motion,in particular,the effects of wheel steering angle on vehicle roll,for reducing vehicle roll and effectively suppressing vehicle vibration,a model for the vehicle with active suspension is built and the roll and vibration control laws are designed to decouple the model by applying differential geometry theory.After decoupling,the pitch,roll and heave motions of sprung mass become independent to each other with the effect of wheel turning angle on vehicle roll effectively contained.The results of simulation show that with differential geometry decoupling,the roll angle,pitch angle and vertical vibration as well as the overshoot of yaw rate are greatly reduced with the ride comfort and steering stability of vehicle remarkably improved.
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