This article presents the quantitative feedback theory (QFT) based multivariable controller for the vertical and the pitch angle motion of a half‐car suspension system. A coupled half‐car system with significant uncertainty, due to sprung masses variation, poses a challenging control problem. Multi‐input multi‐output (MIMO) QFT method is used for this purpose which involves converting the actual MIMO system into an equivalent single‐input single‐output (SISO) system so that the design problem is carried out using the SISO QFT principles. The proposed idea is centered on by converting the coupled MIMO system into a decoupled one using the dynamic decoupler where in controllers are designed independently based on the equivalent SISO system. The designed QFT‐based controllers with the decoupler use the semiactive suspension strategy (realized using the magnetorheological (MR) damper) to reduce the vibration of the half‐car suspension system (in vertical/pitch angular motion) and hence to increase the ride comfort and the vehicle road holding. The feedback cost is less in the proposed design than the sequential QFT design. In this study, the MR damper dynamics is captured by the first‐order model which is realistic, efficient, and simple form. Extensive comparative simulation studies are carried out to illustrate the effectiveness of the proposed design over the existing methods such as passive and skyhook control under different road excitation.

中文翻译：

---

具有磁流变阻尼器的半车悬架系统的鲁棒半主动控制：带动态解耦器的定量反馈理论方法

本文介绍了基于定量反馈理论（QFT）的多变量控制器，用于半车悬架系统的垂直和俯仰角运动。由于簧载质量变化，具有不确定性的耦合半车系统带来了挑战性的控制问题。为此，使用了多输入多输出（MIMO）QFT方法，该方法涉及将实际的MIMO系统转换为等效的单输入单输出（SISO）系统，从而使用SISO QFT原理来解决设计问题。通过使用动态解耦器将耦合的MIMO系统转换为一个解耦的系统，从而实现了所提出的思想，在该系统中，控制器是根据等效SISO系统独立设计的。设计的基于QFT的控制器与解耦器一起使用半主动悬架策略（通过磁流变（MR）阻尼器实现），以减少半车悬架系统的振动（垂直/俯仰角运动），从而提高乘坐舒适性和车辆的路况。反馈成本为与顺序QFT设计相比，拟议设计中的设计更少。在这项研究中，MR阻尼器动力学是由一阶模型捕获的，该模型是现实的，有效的和简单的形式。进行了广泛的比较模拟研究，以说明所提出的设计在不同道路激励下的现有方法（例如被动和天钩控制）上的有效性。