Rollover prevention is always one of the research hotspots in vehicle design. Active hydraulically interconnected suspension (HIS) is a promising technology to reduce vehicle body roll angle caused by different driving inputs and road conditions. This paper proposes a novel actuator of the active HIS system. The actuator consists of two cylinders, a ball screw, and only one motor. The actuator proposed can reduce the number of motors needed in the system. Meanwhile, forced vibration identification (FVI) is used to identify the transfer function of a half-car physical model and a Kalman state observer is applied to eliminate the influence of sensor noise. The FVI method can eliminate most model uncertainties and hidden variables. Aggressive and moderate optimal linear quadratic Gaussian (LQG) methods are implemented to control the motion of the vehicle body based on the identified transfer function of the physical model. The performance of an active HIS system with an aggressive and moderate LQG controller is compared with that of a passive HIS system. The effectiveness of the LQG controller is validated by simulation and experimental results. Also, the obtained results show that the stabilization speed of the active HIS system is 20% faster than that of the passive HIS system and the roll angle can be reduced up to 55% than that of the passive HIS system.

中文翻译：

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基于真实系统辨识的主动液压互连悬架LQG控制器

防侧翻一直是车辆设计中的研究热点之一。主动式液压互连悬架（HIS）是一种有前途的技术，可以减少由于不同的驾驶输入和道路状况引起的车身侧倾角。本文提出了一种主动HIS系统的新型执行器。执行器由两个气缸，一个滚珠丝杠和一个电机组成。建议的执行器可以减少系统中所需的电动机数量。同时，使用强制振动识别（FVI）来识别半车物理模型的传递函数，并使用卡尔曼状态观察器消除传感器噪声的影响。FVI方法可以消除大多数模型不确定性和隐藏变量。基于确定的物理模型传递函数，实施了积极适度的最优线性二次高斯（LQG）方法来控制车身的运动。将具有主动性和适度LQG控制器的主动式HIS系统的性能与被动式HIS系统的性能进行比较。仿真和实验结果验证了LQG控制器的有效性。而且，所获得的结果表明，主动HIS系统的稳定速度比被动HIS系统的稳定速度快20％，并且侧倾角可以比被动HIS系统减小高达55％。仿真和实验结果验证了LQG控制器的有效性。而且，所获得的结果表明，主动HIS系统的稳定速度比被动HIS系统的稳定速度快20％，并且侧倾角可以比被动HIS系统减小高达55％。仿真和实验结果验证了LQG控制器的有效性。而且，所获得的结果表明，主动HIS系统的稳定速度比被动HIS系统的稳定速度快20％，并且侧倾角可以比被动HIS系统减小高达55％。