中文摘要：

在路面不平度的随机激励下,针对汽车相对于路面而非水平面的侧倾状态难以直接测量的问题,基于双线性观测器实现对该侧倾状态的在线估计。利用半主动悬架汽车直接测量其簧载与非簧载质量左、右两侧垂向加速度,分析半主动悬架系统的双线性特性,借鉴Luenberger线性观测器的思想设计双线性观测器,并通过对汽车左、右轮胎变形量的在线观测,进而估计出汽车相对于路面的侧倾状态。最后,利用TruckSim与MATLAB/Simulink开展了联合仿真试验。结果表明：在路面高程一度超过0.1m的情况下,汽车侧倾中心线相对于路面的侧倾角估计值与其真实值之间的相对误差始终保持在10%以内。

英文摘要：

Under random excitation of road roughness,aimed at the problem that it is difficult to directly measure vehicle roll state with respect to road surface,not horizontal plane,the estimation of roll state was conducted based on bilinear observer.Based on the directly measuring the left and right vertical accelerations of both sprung and unsprung masses by using semi-active suspension vehicle,the bilinear characteristics of semi-active suspension system were analyzed.A bilinear observer of the roll state was designed referring to Luenberger linear observer.Vehicle roll state with respect to road surface was estimated through observing left and right tire deformations.Lastly the joint simulation experiment was conducted with TruckSim and MATLAB/Simulink.The results show that the relative error between the estimation value and the true value of roll angle of vehicle roll center line to road surface is always less than 10%,when the road elevation once exceeds 0.1m.