The half-car suspension has the coupling of pitch angle and front and rear suspension. Especially when the suspension model has a series of uncertainties, the traditional linear control method is difficult to be applied to the half-car suspension model. At present, there is no systematic method to solve the suspension power. According to the energy storage characteristics of the elastic components of the suspension, the power calculation formula is proposed in this paper. This paper proposes a composite adaptive backstepping control scheme for the half-car active suspension systems. In this method, the correlation information between the output error and the parameter estimation error is used to construct the adaptive law. According to the energy storage characteristics of the elastic components of the suspension, the power calculation formula is introduced. The compound adaptive law and the ordinary adaptive law have good disturbance suppression, both of which can solve the pitching angle problem of the semi-car suspension, but the algorithm of the compound adaptive law is superior in effect. In terms of vehicle comfort, the algorithm of the general adaptive law can achieve stability quickly, but compared with the composite adaptive law, its peak value and jitter are higher, while the algorithm of the composite adaptive law is relatively gentle and has better adaptability to human body. In terms of vehicle handling, both control algorithms can maintain driving safety under road excitation, and the compound adaptive algorithm appears to have more advantages. Compared with the traditional adaptive algorithm, the power consumption of the composite adaptive algorithm is relatively lower than that of the former in the whole process. The simulation results show that the ride comfort, operating stability and safety of the vehicle can be effectively improved by the composite adaptive backstepping controller, and the composite adaptive algorithm is more energy-saving than the conventional adaptive algorithm based on projection operator.

半车悬架具有俯仰角和前后悬架的耦合。尤其是当悬架模型存在一系列不确定性时，传统的线性控制方法很难应用于半车悬架模型。目前尚无系统的方法来解决悬架动力问题。根据悬架弹性元件的储能特性，提出了功率计算公式。本文提出了一种半车主动悬架系统的复合自适应反步控制方案。该方法利用输出误差和参数估计误差之间的相关信息来构造自适应律。根据悬架弹性元件的储能特性，引入功率计算公式。复合自适应律和普通自适应律都具有良好的扰动抑制作用，都可以解决半车悬架的俯仰角问题，但复合自适应律的算法效果更优越。在车辆舒适性方面，一般自适应律的算法可以较快地达到稳定，但与复合自适应律相比，其峰值和抖动较高，而复合自适应律的算法相对温和，对车辆的适应性更好。人体。在车辆操控方面，两种控制算法都能在道路激励下保持行驶安全，复合自适应算法显得更有优势。与传统自适应算法相比，复合自适应算法在整个过程中的功耗相对较低。仿真结果表明，复合自适应反步控制器能够有效提高车辆的乘坐舒适性、运行稳定性和安全性，且复合自适应算法比传统的基于投影算子的自适应算法更加节能。