Rigorous model-based design and control for intelligent vehicle suspension systems play an important role in providing better driving characteristics such as passenger comfort and road-holding capability. This paper investigates a new technique for modelling, simulation and control of semi-active suspension systems supporting both ride comfort and road-holding driving characteristics and implements the technique in accordance with the functional mock-up interface standard FMI 2.0. Firstly, we provide a control-oriented hybrid model of a quarter car semi-active suspension system. The resulting quarter car hybrid model is used to develop a sliding mode controller that supports both ride comfort and road-holding capability. Both the hybrid model and controller are then implemented conforming to the functional mock-up interface standard FMI 2.0. The aim of the FMI-based implementation is to serve as a portable test bench for control applications of vehicle suspension systems. It fully supports the exchange of the suspension system components as functional mock-up units (FMUs) among different modelling and simulation platforms, which allows re-usability and facilitates the interoperation and integration of the suspension system components with embedded software components. The concepts are validated with simulation results throughout the paper.

中文翻译：

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半主动悬架系统的混合建模和滑模控制，用于驾驶舒适性和道路保持性

对智能车辆悬架系统进行严格的基于模型的设计和控制在提供更好的驾驶特性（例如乘客舒适度和道路保持能力）方面发挥着重要作用。本文研究了一种支持乘坐舒适性和抓地驾驶特性的半主动悬架系统的建模、仿真和控制新技术，并根据功能模型接口标准 FMI 2.0 实施该技术。首先，我们提供了一个四分之一汽车半主动悬架系统的面向控制的混合模型。由此产生的四分之一汽车混合动力模型用于开发支持乘坐舒适性和道路保持能力的滑模控制器。然后按照功能模型接口标准 FMI 2.0 实现混合模型和控制器。基于 FMI 的实施的目的是作为车辆悬架系统控制应用的便携式测试台。它完全支持悬挂系统组件作为功能模型单元（FMU）在不同建模和仿真平台之间的交换，这允许重复使用并促进悬挂系统组件与嵌入式软件组件的互操作和集成。这些概念在整篇论文中都得到了仿真结果的验证。这允许重复使用并促进悬挂系统组件与嵌入式软件组件的互操作和集成。这些概念在整篇论文中都得到了仿真结果的验证。这允许重复使用并促进悬挂系统组件与嵌入式软件组件的互操作和集成。这些概念在整篇论文中都得到了仿真结果的验证。