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中文摘要：
设计先进的悬挂系统是提高车辆性能的重要途径之一．本文针对并联式液压主动悬挂系统建立了较为详细的7自由度全车非线性模型，并根据其结构特点提出了线性二次型最优控制与Backstepping方法相结合的控制策略．仿真结果证明，利用该控制策略，主动悬挂系统既可以满足悬挂行程约束，又可以有效的提高乘坐舒适性；而且，与相同条件下的被动悬挂相比，车辆性能有明显改善．
英文摘要：
It is a main way to improve the performance of the cars by designing advanced suspension systems. The detailed seven degrees-of-freedom nonlinear model of full-car parallel hydraulic active suspension is built. A new active suspension control strategy using the combination of optimal control and backstepping technique is presented based on the system structure characteristic. Simulation results are also given to demonstrate that the control strategy is effective, and the performance of the active suspension is obviously superior to the passive suspension in the same condition.
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