中文摘要：

针对采用半主动悬架的多轴车辆,建立了动力学模型;基于预描控制结合Pade近似方法建立多轴车辆后轴和第1轴路面激励输入的关系,并改进了动力学模型;基于天棚阻尼模型,建立参考模型;基于滑膜控制结合等速趋近率确定了控制率。以某三轴车辆为例,采用滑膜控制方法实现对车辆的控制,其分析结果和被动悬架进行了对比分析;分析结果证实了采用滑膜控制方法车身质心高度变化幅值、车身俯仰角幅值得到明显减小,其变化趋势也较为平缓;车辆在低速还是高速行驶质心加速度均方根值、车身俯仰角角加速度均方根值都比被动悬架车辆明显减小,车辆的平顺性得到改善。建立的模型及控制方法具有普适性,适用于两轴及两轴以上的车辆。

英文摘要：

Dynamic model was established for multi-axle vehicle with semi-active suspension system. Using preview control and pade method,the model was improved and the relationship between the rear axles and the first axle was obtained.Reference model was built based on skyhook damping model. The control law was finished based on sliding-model control and uniform reaching law. Sliding-model control of a three-axle vehicle was achieved. The performance of the controller had been compared with the passive system. The results indicate that the control can decrease obviously the vibration amplitude and trends of mass center and pitch angle. RMS of acceleration and pitch angle are evidently reduced using the control. Multi-axle＇s ride comfort is improved. The model and control method can be applied to two-axle vehicle and multi-axle vehicle.