车辆悬架系统的平顺性和操稳性之间存在着固有矛盾，同时汽车在不同行驶工况下对于悬架系统的性能需求也各不相同。为了有效提高车辆在不同行驶工况下的悬架动态性能，降低主动悬架能耗。本文提出了一种电磁混合主动悬架系统，设计了内分泌复合天地棚控制策略，并展开协调控制研究。

     在分析电磁混合主动悬架结构组成和工作原理基础上，分别建立了悬架二自由度动力学模型、直线电机模型、电磁阀减振器模型以及路面不平度模型。根据电磁混合主动悬架的特点，对不同行车速度跟不同路面等级构成的行驶工况进行了悬架工作模式划分。为最大程度实现不同模式下电磁混合主动悬架系统性能的改善，设计了基于不同行驶工况下的天地棚阻尼参数优化分析，利用加权优化函数与能耗最低函数进行双目标函数优化，得到不同模式下的最优天地棚阻尼参数。同时为进一步提高天地棚阻尼控制的效果，借鉴生物内分泌激素调节机制，设计了内分泌复合天地棚控制策略。并利用MATLAB软件进行建模仿真，仿真分析了各模式下被动悬架、天地棚控制策略和内分泌天地棚控制策略的控制效果。最后试制了电磁混合主动悬架物理样机并展开台架试验，以验证内分泌天地棚协调控制的有效性。

     仿真结果表明：电磁混合主动悬架内分泌复合天地棚控制在不同模式下的控制目标都得到了对应的改善，且控制效果均优于天地棚控制。如初始参数仿真时，在舒适模式下簧载质量加速度较被动悬架降低了28.9%，安全模式下轮胎动载荷较被动悬架降低了22.8%。台架试验结果表明：电磁混合主动悬架内分泌复合天地棚控制试验结果与仿真结果基本吻合，试验验证了控制策略的有效性。如初始参数试验时，电磁混合主动悬架内分泌复合天地棚控制在经济模式下簧载质量加速度试验结果与仿真结果相对误差为2.52%，舒适模式下簧载质量加速度试验结果与仿真结果相对误差为4.42%，均在合理范围，表明电磁混合主动悬架内分泌复合天地棚控制有效。

       The inherent contradiction between riding comfort and handling stability of vehicle suspension system has always existed. At the same time, the performance requirements of suspension system are different under different external driving conditions. In order to effectively improve the dynamic performance of suspension under different driving conditions and reduce the energy consumption of active suspension. An electromagnetic hybrid active suspension system is designed, and the control strategy of endocrine hybrid active suspension system is proposed.

       Based on the analysis of the structure and working principle of the electromagnetic hybrid active suspension, the two DOF dynamic model of the suspension, the linear motor model, the electromagnetic valve damper model and the road roughness model are established, respectively. According to the characteristics of the electromagnetic hybrid active suspension, the working modes of the suspension under different driving speeds and different road grades are divided. In order to improve the performances of the electromagnetic hybrid active suspension system in different modes to the greatest extent, the optimization analysis of the damping parameters of the skyhook-groundhook control under different driving conditions is designed. The double objective function optimization is carried out by using the damping optimal function and the minimum energy consumption function, the optimal damping parameters of the skyhook-groundhook control under different modes are obtained. At the same time, in order to further improve the damping control effect of the skyhook-groundhook, the endocrine composite skyhook-groundhook control strategy is designed. The control effect of the passive suspension, the skyhook-groundhook control and the endocrine composite skyhook-groundhook control strategy under each mode are simulated and analyzed by using MATLAB software. Finally, the prototype of the electromagnetic hybrid active suspension is produced and the test bench is built, and the experimental research on the electromagnetic hybrid active suspension is carried out to verify its effectiveness.

      The simulation results show that the control objectives of the hybrid active suspension with the endocrine composite skyhook-groundhook control under different modes are improved, correspondingly. The different control objectives can be achieved, and the control effect is better than that of the skyhook-groundhook control. For example, under initial paramaters simulation, compared with passive suspension, the sprung mass acceleration under comfort mode is reduced by 28.9%, and the tire dynamic load under safety mode is reduced by 22.8%. The bench test results show that, the test results are basically consistent with the simulation results, which verifies the control effect of endocrine composite skyhook-groundhook control strategy. The relative error of the sprung mass acceleration under economy mode between the simulation results and test results is 2.52%, and the relative error under comfort mode between the simulation results and test results is 4.42%, which is within reasonable range. The test results shows that the control of the electromagnetic hybrid active suspension is effective.

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