To improve the ride comfort of wheel drive electric vehicle, a quarter dynamic model is established for vehicle active and passive suspension. Based on the response root mean square (RMS), the evaluation index of vehicle ride comfort is derived. According to the influence of uncertain parameters on system minimum RMS, the optimal vehicle parameters are determined. To avoid experience value of uncertain weight coefficient affecting the LQG control, analytic hierarchy process (AHP) is adopted to determine the weighting coefficient of vehicle performance evaluation index. And the LQG controller of vehicle active suspension is designed based on optimal control theory. Compared with the analysis results of passive suspension, the effectiveness of active control scheme is verified.

为了提高轮驱动电动汽车的乘坐舒适性，针对车辆的主动和被动悬架建立了四分之一动力学模型。基于响应均方根（RMS），得出车辆行驶舒适性的评估指标。根据不确定参数对系统最小RMS的影响，确定最佳车辆参数。为避免权重系数不确定的经验值影响LQG控制，采用层次分析法确定车辆性能评价指标的权重系数。并基于最优控制理论设计了车辆主动悬架的LQG控制器。通过与被动悬架分析结果的比较，验证了主动控制方案的有效性。