In this paper, an active seat suspension system that is robust to uncertainties and unknown road profiles is designed using a state and disturbance observer. The controller which needs the measurement of just the seat frame position is analyzed with a 4-degree-of-freedom biodynamic model of the passenger for performance and stability. The proposed scheme is validated by simulation for a variety of road profiles under various uncertainties and compared with passive suspension, linear quadratic regulator-based active seat suspension, and conventional active cabin suspension using the evaluation norms set by ISO-2631. The proposed scheme is seen to be robust to uncertainties in seat frame suspension, passenger mass, and cabin suspension.

中文翻译：

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基于状态和扰动观测器的不确定座椅悬挂系统主动控制

在本文中，使用状态和干扰观测器设计了一种对不确定性和未知道路轮廓具有鲁棒性的主动座椅悬架系统。仅需要测量座椅骨架位置的控制器通过乘客的 4 自由度生物动力学模型进行性能和稳定性分析。所提出的方案通过对各种不确定性下的各种道路剖面的模拟进行了验证，并使用 ISO-2631 设定的评估规范与被动悬架、基于线性二次调节器的主动座椅悬架和传统的主动驾驶室悬架进行了比较。拟议的方案被认为对座椅框架悬挂、乘客质量和机舱悬挂的不确定性具有鲁棒性。