Controllable suspension systems have the capability of changing suspension forces. One control approach is to define a cost function with the aim of optimising either ride comfort or handling. Such controllers are usually reactive and not pro-active. Controllers can benefit significantly by having a priori knowledge of the effect that changing the suspension settings will have on the suspension forces. This is especially true for vehicles traversing very rough terrain. This paper addresses the a priori knowledge needed by predicting what the suspension forces will be before changing the suspension setting. The proposed approach involves estimating sprung and unsprung mass acceleration, estimating the road excitation, and then predicting the suspension forces. A quarter car model is used to illustrate the concept. Thereafter, the concept is extended to a nonlinear multibody dynamics model and finally validated experimentally. Results indicate that the suspension force in a different suspension modes can be predicted before switching suspension modes.

可控悬架系统具有改变悬架力的能力。一种控制方法是定义成本函数，目的是优化乘坐舒适性或操控性。这种控制器通常是被动的而不是主动的。控制器可以通过先验了解更改悬架设置将对悬架力产生的影响而受益匪浅。对于穿越非常崎岖地形的车辆尤其如此。本文讨论了先验在更改悬架设置之前预测悬架力所需的知识。所提出的方法涉及估计簧载和簧下质量加速度、估计道路激励，然后预测悬架力。四分之一的汽车模型被用来说明这个概念。此后，该概念被扩展到非线性多体动力学模型，并最终通过实验进行验证。结果表明，在切换悬架模式之前，可以预测不同悬架模式下的悬架力。