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U = m us &x&1
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Ar

:
z1 = x 1
:
z 2 = x& 1 ) (a ) (b
z3 = x 2 .
z 4 = x& 2

k 1 (z w ) k 2 (z 1 z 3 ) c 2 (z 2 z 4 )
/
U = m us z& 2
) ( .
)(

k 2 (z 1 z 3 ) + c 2 (z 2 z 4 ) + U = m s z& 4

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Archive of SID
.....

x& 2 0 1 0 0 z&
) (k 1 + k 2 c2 k2 c2
U m m us m us m us = z& 2
us z&
0 0 0 1
k2 c2 k2 c2 3
: z& 4
ms ms ms m s
P.I. = 1 0 ( Y T MY + U T NU )dt

2 )(
)( 0 0
z1 1
Ricatti k1
z
] + us [U ] + m us [w
2 m
]: [ z 3 0
1 0
Q N 2 R 1 B T P N 2 R 1 N T2 + A T P + PA z 4 0
PBR 1 B T P PBR 1 N 2 = 0
T m s
:

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)(
& = AX + BU + LW
X

Q = C T MC Y = CX + DU + GW
N 2 = C T MD
R = D T MD + N
)(
SI 0 1
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0
k2 c2
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) ( ) ( :
0
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m m us m us m us
A= us
) U = K 1 X (t 0 0 0 1
1 k 2 c 2 k2 c2
K1 = R ) ( B T P + N T2
ms ms ms m s
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) ( m us
B= , L = m us
0
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0
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JOC )(
P.I. = 1 0 (Y T MY + X
& && +
&&T SX &&+
&&&T V
X X
2
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)(
: U
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x2 x1

x& 2
FOC
&x& 2
FOC
&x&&2
:
U
x1 w

x2 x1
] : [

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Archive of SID

FOC JOC Q N 2 K 2 + A T P + P(A BK 2 ) +

. JOC S(A BK 2 ) 4 V(A BK 2 ) 6 = 0
. ) U = K 2 X( t
)K 2 = R 1 ( N T2 + B T P
)(

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JOC FOC m s = 240kg
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m
.
)(

k 2 = 16000 N
m
c 2 = 980 N. S
m
.
. B A L
) ( ) (
. .

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Archive of SID
.....

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Archive of SID

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HZ JOC
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) (-b
.

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Archive of SID

: mus
: ms
: N ) ( .
: P
: P.I.
: Q % %
: R % %
: S .
: U rms
: V .
:W JOC

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: x 2
: x& 1
SI
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: Y : C
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: z2 : D
: z3 : G
: z4 : H
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: 1 : K2 JOC
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: M

1 Miller, L. R. and Nobles, C. M. (1990). Methods for eliminating jerk and noise in semi-active
suspensions. SAE Transactions, Vol. 99, Sect. 2, PP. 943-951.
2 Rutledge, D. C., Hubbard M. and Hrovat D. (1996). Two DOF model for jerk optimal vehicle dynamics.
Vehicle System Dynamics, Vol. 25, PP. 113-136.
3 Esmailzadeh, E. and Fahimi, F. (1997). Optimal adaptive active suspension for a full car model. Vehicle
System Dynamics, Vol. 27, PP. 89-107.

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Archive of SID
.....

4 Langlois, R. G. and Anderson, R. J. (1995). Preview control algorithms for active suspension of an off-road
vehicle. Vehicle System Dynamics, Vol. 24, PP. 65-67.
5 Hrovat, D. and Hubbard, M. (1987). A comparison between jerk optimal and acceleration optimal
vibration. Journal of Sound and Vibration , Vol. 112, No. 2 , PP. 201-210.
6 Shahian, B. and Massul, M. (1993). Control system design using MATLAB. Prentice-Hall.
7 Lewis, F. L. (1992). Applied optimal control & estimation. Prentice Hall Inc.

1 Jerk 2 Ride Comfort
3 Handling 4 Jerk Optimal Control
5 Optimal Active Suspension 6 Force Optimal Control
7 Passive Suspensions System 8 Algebric Ricatti Equation
9 Hamiltonian 10 Actuator

D
11 Semi-Active 12 Damper
13 Cost Function

P.I. = 1
2
0(Y MY + X

T && ) + &X
&& SX T && V&X
&& + U NU)dt
T T
SI
JOC
of
P.I. = 1 (X QX + U N X + X N U + ) X

T T T && SX
&& + &X
&& V&X
T && + U RU )dt
T T
2 0
1 2

()
( & ,X
H X, X && , &X )
&&, , , U = 1 (X T QX + U T N X + X T N U + X
&& T SX
&& + &X
&& T V&X (
&& + U T RU ) + T AX + BU X
& )
ive

2 1 2

()
:
H
=0

ch

H
=0
U
H d H d H d H
+ =0
& dt 2 X
&& dt 3 &X
&&
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X dt X
()
: ( ) ( )
& = AX + BU
X
1 N X + 1 N T X + RU + BT = 0
2 1 2 2
QX + 1 N1 T U + 1 N 2 U + A T + &
2 2
+ SX VX = 0
( 4) (6)

()
:
U = K 2 X (t )
= PX (t )

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Archive of SID

:
T
N1 = N 2
) ( :
N 2 PK 2 + B P = 0
T

`) K 2 = R 1 (BT P + N 2
Q N 2 K 2 + A T P + P(A BK 2 ) +
) S(A BK 2 ) V(A BK 2
)( 4 )(6
=0
)(
) ( K .

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