中文摘要：

混合悬架在单一控制模式下的舒适性、安全性和馈能性存在相互制约问题,本文基于模型参考的方式设计了一种混合悬架多模式切换控制方法,确定了各模式之间切换规则来控制直线电机和可调阻尼进行切换。然后基于Simulink/Stateflow进行了1/4混合悬架的切换控制系统的设计和仿真,并进行了快速原型试验论证。仿真试验结果表明：混合悬架多模式切换控制模型可以有效地进行切换并达到切换目标,提高混合悬架的综合性能。

英文摘要：

Due to the mutual restricted problem among comfort,safety,energy-regeneration in single control mode,the hybrid suspension with four working modes was designed and the switching strategy based on model reference was generated to control linear motor and adjustable damping to switch. Comfort model,safe model,combine model and passive energy recycle model were proposed to solve the above problems. And the body acceleration and tire dynamic displacement were used as the threshold of these four switching modes. In this system,the hybrid suspension with linear motor and three stages adjustable damping was taken as the research object. First of all,control strategies in different modes were changed through the use of multi-mode switching to improve the control effect. Then in order to reduce energy consumption and recover energy,the appropriate damping values in different modes were selected and the linear motor was used as a generator. And based on Simulink/Stateflow,the switching control system of 1/4 hybrid suspension was designed and simulated, and a complete simulation process from road switching,mode selection, mode switching to the changing of suspension model parameters was constructed. And a rapid prototype experiment was carried out. The experimental study on dynamic performance and energy feedback capability of hybrid suspension was based on d SPACE development model. The corresponding control strategy was designed and the results indicated that the root mean square value of the body acceleration and the root mean square value of the tire dynamic displacement were compared with the simulation results. Multi-mode switching control model of the hybrid suspension can effectively switch and reach the switching target,help hybrid suspension with energy recovery and improve the comprehensive performance of the hybrid suspension.