This paper presents a vehicle attitude compensation algorithm based on state observer for vehicle semi-active suspension system equipped with four magneto-rheological dampers (MR dampers). The proposed algorithm including magneto-rheological damper control algorithm, attitude compensation control algorithm, and design method of state observer is to effectively improve ride comfort and control vehicle body attitude. First, the actual equivalent damping of magneto-rheological damper is introduced into state observer, and the parameter matrix of suspension system is updated in real time via precise discretization method to enhance the estimation accuracy of state observer. Then, the velocity signal estimated by state observer is employed as the evidence to realize attitude compensation control for vehicle body. Finally, relevant co-simulations and hardware-in-the-loop test are conducted to verify the validity of the proposed control algorithm. Results of simulations and tests demonstrate that the application of the control algorithm proposed in this paper can significantly improve ride comfort of magneto-rheological suspension and optimize vehicle body attitude.

本文提出了一种基于状态观测器的车辆姿态补偿算法，用于配备四个磁流变阻尼器（MR阻尼器）的车辆半主动悬架系统。提出的算法包括磁流变阻尼器控制算法、姿态补偿控制算法和状态观测器的设计方法，以有效提高乘坐舒适性和控制车身姿态。首先，将磁流变阻尼器的实际等效阻尼引入状态观测器，通过精确离散化方法实时更新悬架系统参数矩阵，提高状态观测器的估计精度。然后，以状态观测器估计的速度信号为依据，实现对车身的姿态补偿控制。最后，相关的联合仿真和硬件在环测试被用来验证所提出的控制算法的有效性。仿真和试验结果表明，应用本文提出的控制算法可以显着提高磁流变悬架的平顺性，优化车身姿态。