A semiactive seat suspension control method is proposed in this study and applied to attenuate the vibration of the commercial truck seat for enhancing its ride comfort. The semiactive seat suspension system with a magnetorheological damper behaves with undesirable nonlinear properties. The proposed controller is a typical nonlinear controller, which takes the ideal sky-hook controller as the reference model and forces the tracking error vector. The controller has achieved great performance of attenuating vibration and is robust to parameter uncertainties and external disturbances. The relaxation oscillation phenomenon and convergence were also analyzed by the contribution of the phase portrait. As the phase portrait depicted, the sky-hook controller, a weakly nonlinear system, could be approximated by the equivalent linear approximate model. However, the proposed controller, the sky-hook sliding mode controller, is a strongly nonlinear system, which could not be linearized by the regular perturbation theory, and the criterion is given by the phase portrait. The experiment results showed good agreement with the simulation results, and some other matters encountered were also analyzed in the process of application.

在这项研究中提出了一种半主动式座椅悬架控制方法，该方法用于减弱商用卡车座椅的振动，从而提高其乘坐舒适性。具有磁流变阻尼器的半主动式座椅悬架系统表现出不良的非线性特性。所提出的控制器是典型的非线性控制器，它以理想的空中钩形控制器为参考模型，并强制跟踪误差矢量。该控制器具有出色的减振性能，对参数不确定性和外部干扰具有鲁棒性。通过相像的贡献还分析了弛豫振荡现象和收敛。如相图所示，可以通过等效线性近似模型来近似空中钩挂控制器（一个弱非线性系统）。然而，所提出的控制器，空中钩形滑模控制器，是一个强非线性系统，无法通过常规扰动理论进行线性化，其判据由相图给出。实验结果与仿真结果吻合良好，在应用过程中还对遇到的其他一些问题进行了分析。