-

-1 :

)Y( s
-
)R( s
)X(s
.
-
)R( s
1
1
= G1 = G5
- = , G3 = H1 = 0.1, H 2 = 1, G4
s +1
s
MATLAB
) X (s
) Y (s
= ) T2 (s " "
= ) T1 (s
-
) R (s
) R (s
.

-2 ) k (:

-3

 -4 )( :

f - b1 ( y&1 - y& 2 ) - k1 ( y 1 - y 2 ) = m1 y&&1

-f + b1 ( y& 1 - y& 2 ) + k 1 ( y 1 - y 2 ) + b2 (w& - y& 2 ) + k 2 (w - y 2 ) = m2 y&&2

w f :

* body mass (m1) = 2500 kg,

* suspension mass (m2) = 320 kg,
* spring constant of suspension system(k1) = 80,000 N/m,
* spring constant of wheel and tire(k2) = 500,000 N/m,
* damping constant of suspension system(b1) = 350 Ns/m.
* damping constant of wheel and tire(b2) = 15,020 Ns/m.
* control force (f) = force from the controller we are going to design.
* disturbance (w) = disturbance force from the road we are going to remove its effect using control input f.

- .
f
U =
w

y1
Y = ,
y2

X& = AX + BU
,

Y = CX

- .
y 1 (s ) H 11 (s ) H 12 (s ) F (s )
y (s ) = H (s ) H (s ) W (s )
22

2 21
- "" "" ) (w ) (f

50 ) ) u(t (:
. f (t ) = u (t ), w (t ) = 0 -1
. f (t ) = 0, w (t ) = 0.1u (t ) -2
f (t ) = u (t ), w (t ) = 0.1u (t ) -3

- ) (w(t)=0 Y = y 1 :

X& = AX + B 2 f

y 1 = C 2 X

-5

Everything is possible; the impossible will just take a little longer!

.