关键词: 车辆工程, 主动横向稳定杆, 侧倾稳定性, Kalman滤波, LQG控制

Abstract: Firstly, the vehicle dynamics model and the active stabilizer actuator model of the hydraulic cylinder controlled by the electro-hydraulic servo valve were established. Then the space model of the system state was derived. Thirdly, Kalman filter algorithm was used to make an optimal estimation of the centroid side-slip angle at centre of mass, yaw rate, sprung mass roll angle, sprung mass roll angular velocity, etc. Based on the optimal estimation, an optimal feedback matrix was designed by using Riccati equation to realize the optimal control of LQG. Furthermore, the simulation verification was carried out in MATLAB/Simulink and compared with the passive transverse stabilizer. The results show that the designed LQG optimal control method has an obvious effect in restraining body roll and can effectively improve vehicle roll stability.

Key words: vehicle engineering, active transverse stabilizer, roll stability, Kalman filtering, LQG control