中文摘要：

为利用半主动悬架阻尼连续可调的特性来提高汽车的主动安全性，建立了汽车侧翻预测模型，并以此为基础设计了一种双层结构的连续减振控制器，进行汽车防侧翻控制。上层控制器采用滑模控制方法输出期望侧倾力矩，下层控制器根据这个期望侧倾力矩，利用线性插值方法输出半主动悬架中各减振器的输入电流。利用MATLAB／Simulink对整个系统进行了仿真，结果表明，该控制器能有效提高汽车的防侧翻能力。

英文摘要：

For taking advantage of the continuously adjustable feature of damping in semi-active suspension to enhance the active safety of vehicle, a vehicle rollover predictive model is built and on this basis a continuous damping controller with double-layer structure is designed to perform anti-rollover control for vehicle. Based on the desired roiling moment output from the upper layer by using sliding mode control technique, the bottom layer utilizes linear interpolation scheme to output the input current for each shock absorber in semi-active suspension. The results of simulation on the whole system with MATLAB/Simulink indicate that the controller designed can effectively im- prove the rollover resistance capability of vehicle.