在建立车辆非平稳行驶路面激励模型基础上，应用LQG最优控制对车辆非平稳行驶状态下的悬架进行了半主动控制研究，并与平稳行驶状态下的控制进行比较，分析了悬架性能指标的权重系数对悬架性能的影响。研究表明：车辆在加速行驶时，半主动悬架的车身加速度、车轮动载荷与无控制时相比有一定减小，悬架动挠度在非平稳态行驶状态下的控制响应与无控制时相比有明显的滞后。

Based on the building of nonstationary road surface excitation model, a study on the semi-active suspension control under non stationary running condition is conducted using LQG optimal control, compared with the control results under the stationary running condition. The effects of weighted coefficients on the performance index are analysed. The research shows that the body acceleration tire dynamic load decrease and the response of suspension dynamic deflection has a obvious delay, compared with no control.